具有通信时延的多机器人编队控制

Multi-Robot Formation with Communication Delay

针对通信约束条件下的多机器人编队控制问题,基于群集运动思想和一致性理论,提出了一种包含时延的分布式协同控制算法.首先,通过编队图及其矩阵表示,结合稳定性理论,用频域方法分析编队系统的稳定性,得到多机器人能形成期望编队的条件;然后,通过实验分析得到了最大允许时延与控制参数和拉普拉斯矩阵特征值的关系;最后,利用一个4机器人编队实例,验证了编队控制策略的有效性和结论的正确性.

A distributed coordination control algorithm is proposed for multi-robot formation with limited communication.The algorithm is inspired by the flocking of animals and the consensus theory.Based on the formation graph and the matrix representation of formation graph,the stability of the formation system is analyzed via the frequency domain method combined with the stable theory.The sufficient and necessary condition is obtained.The multi-robot formation is obtained to get the desired geometry formation and velocity.The relations between the maximum tolerable delay,the parameters,and the eigenvalues of the Laplacian matrix are also investigated through simulations of four-robot formation verify the effectiveness of formation control strategy and the correctness of the conclusions.