一种新的移动机器人组的多目标控制仿真实验

A Novel Multi-objective Control Simulation Experiment for Mobile Robots

为了实现具有编队运动和避障能力的分布式自治系统,针对协同的轮式移动机器人组提出了一种非线性控制方法,使得其在动态变化环境中能编队运动,避开静态和动态障碍物,并有效地跟踪虚拟领航机器人。首先,建立了多目标控制问题模型,然后为环境中的每一个物体生成人工势场,在此基础上设计生成综合控制量。此方法系统地综合考虑了协同运动、虚拟领航者跟踪、避障和振荡抑制等多目标的实现。采用李亚普洛夫方法对所需的基本条件和主要特性进行了严格地证明和推导。所提出的控制基于势场法,提高了机器人组的瞬态性能,并解决了其固有的振荡问题。仿真研究表明,该方法保证了移动机器人组在动态环境中能有效地实现协同运动、虚拟领航者跟踪、避障和振荡抑制等多目标任务。

In this paper, a nonlinear control design is proposed for a team of wheeled mobile robots to cooperate in a dynamically evolving environment to track their virtual leader （s）, while avoiding static and dynamic obstacles. A multi -objective control problem is formulated, and the control is synthesized by generating a potential field force for each objective and combining them through analysis and design. The proposed design is the systematic approach to accommodating and achieving the multiple objectives of cooperative motion, tracking virtual command vehicle （ s）, avoiding obstacle, and suppressing oscillation. Basic conditions and key properties are derived using rigorous Lyapunov analysis and theoretical proof. The results are illustrated by several simulation examples. It shows that the proposed approach works well.