移动机器人网络运动协调的控制与仿真

Control and Simulation for Motion Coordination of Mobile Robotic Network

研究移动机器人网络运动协调的仿真框架与分散控制律的设计。建立了传感范围有限、差速驱动移动机器人网络的数学模型:单个机器人的运动由运动学与动力学方程描述,且驱动力矩和速度有限;有向图和proximity图分别描述机器人间的通信网络和互感网络。设计了基于MATLAB/SIMULINK的运动协调仿真框架,并在此基础上设计了带速度约束的平行运动与自组织编队生成协调控制律。仿真结果证明控制器设计的有效性和仿真框架对不同分散控制律的适用性。

The focus is on the design of simulation framework and decentralized control laws for motion coordination of mobile robotic network. A mathematic model was set up to describe a network of differential-driven mobile robots with limited sensing range： the motion of a single robot described by equations of kinematics and dynamics with torque and velocity constraints, digraph and proximity graph to describe the communication and sensing network respectively. A MATLAB/SIMULINK based simulation framework was designed and two control laws for parallel motion and self-organized formation generation were proposed with bounded velocity considered. The simulation results demonstrate the effectiveness of those control laws and the applicability of the framework to different decentralized control algorithms.