多机器人协同队形变换算法与实现

Algorithm and Implement for Formation Change Based on Multi Robots Cooperation

在面向任务的应用中,越来越多的任务需要多机器人协作才能完成。多机器人编队能有效提高任务完成效率并且保证可靠性,与单个机器人相比具有相当的优势。多个机器人要保持一个稳定的队形,其系统内部必须有信息的传递和交换。多机器人之间的队形保持难点在于每个机器人之间要实时获取其它机器人的位置坐标信息并且根据拓扑约束进行反馈调节。为解决上述问题,提出采用分布式控制和局部通信机制,避免使用全局绝对坐标。根据多机器人的物理约束、信息交换和控制策略建立并实现了多机器人编队的l-φ-l模型,与传统算法相比,实现了领航者根据跟随者的信息进行自身调节,提高了队形保持的稳定性。从仿真结果看,多个机器人能快速地进行队形变换,变换过程中没有相互的碰撞,并可以顺利通过障碍物,队形误差小。

In many applications,more and more tasks need to be completed collaboratively.Formations of mutirobots can guarantee the task completion rates and reliability,which displays the superiority compared with a signal robot.Internal information exchange is necessary for formation maintaining.The main point of formation keeping is that one robot should acquire the position information of others and adopt a feedback regulation based on the message obtained.Distributed control and local communication mechanism were adopted,avoiding the use of global absolutely coordinate.The l-（φ）-lmodel based on physical constraint and control strategy of multiple robots was established and implemented.Compared with traditional methods,the navigator also adjusts its parameters in the way this article proposed,which enables the formation stability.The simulation and experimental results show that robots formations can switch smoothly and circumvent the obstacle steady.Meanwhile,the formation error is small.