基于路径参数协同的多移动机器人编队控制

Formation Control of Mobile Robots Based on Path Variables Coordinate

为了使每个机器人沿期望的跟踪路径运动,建立了一种基于路径参数协同的多移动机器人编队控制模型。模型将整个系统的控制分为两部分:一部分用Lyapunov和反演技术设计了路径跟踪控制器,另一部分为路径参数协同控制器,保证每个机器人期望跟踪路径的参数变量能够实现协同,进而达到对编队的控制。采用结构模型完全>分布,并且适用于机器人不同集群任务需求,可易于仿真实现。使用控制方案仅需要机器人之间交互路径参数信息,通讯需求量小,满足实际工程需求。仿真结果验证了所提算法的有效性。

We address the problem of designing distributed feedback laws to fore the outputs of mobile robots to following geometric paths while holding a desired formation pattern.The solution to formation problem,unfolds in two basic parts.Firstly,a path following control law based on Lyapunov and backstepping is designed to drive each robot to its desired path regardless of the temporal speed profile adopted.Secondly,the path parameters of each assigned path are adjusted so as to synchronize their positions along the path,thus achieving coordination,while making the formation as a whole travel at a given speed.The control strategy proposed only needs robots communicate the information of path parameter with each other;the information flow is small and satisfies a practical standpoint.Simulation results illustrate the effectiveness of the proposed method.