基于PSO算法虚拟Leader的多机器人编队控制

Multi-robot Formation Control with Virtual Leader Based on PSO Algorithm

针对leader-follower编队方法的不足,引入分散化编队控制策略并提出了基于PSO算法的虚拟领航者的多机器人编队控制方法。引入一个基于改进PSO算法进行路径规划的虚拟领航者,控制编队方向;同时通过信息共享,领导者带领追随者跟踪虚拟领航者的踪迹,完成编队队形维护和控制,从而有效地避免队形陷入局部最优及避免角度的骤变引起队形不稳的问题。在仿真平台上进行仿真和分析,在实物平台得以验证。

Aiming at the weak points of the leader-followers formation control, the paper presents the decentralized for marion control strategy and proposes the formation control with virtual leader based on PSO algorithm. A virtual leader with path planning on PSO algorithm is introduced to control the formation direction. Through information sharing, the leader leads followers to tracking virtual leader trail, completing the formation maintenance and control, which effectively prevent formation into local optimum and avoid the instability of formation caused by the change angle. Simulation results validate on the physical and simulation platform.