基于领航者模式的多机器人编队实现

Multi-robot formation based on leader-follower mode

在讨论机器人的动力学模型和运动学模型的基础上,通过构建虚拟机器人实现领航者机器人和跟随者机器人之间系统的对接。领航者机器人通过不断更新自身信息实现到达预定轨道。跟随者机器人通过获取虚拟机器人信息来调整自身位姿,实现了保持与领航者的相对位姿。通过matlab仿真验证了编队策略的正确性和稳定性。

In this paper,two systems of the leader and the corresponding follower,which are based on dynamic model and kinematic model,are connected by creating a virtual robot.The leader robot reaches the desired trajectory by updating its information continuously,while the follower adjusts its position and orientation to maintain the relative position and orientation successfully by getting access to information of the virtual robot.It is proved that the formation strategy is reasonable and steady by the simulation experiment of matlab.