多机器人编队围捕算法研究

Study on Formation and Interception Algorithm for Multi-Robots

针对传统的多机器人编队围捕算法在规划路径时,产生的路径冗余较大从而造成围捕耗时较长的问题,提出了一种基于平行导引律的多机器人实时编队围捕算法。以多机器人的编队中心作为虚拟领航者的位置,根据虚拟领航者与目标机器人的当前运动信息设计平行导引律,得到虚拟领航者下一时刻的规划位置,围捕机器人群根据与该规划位置的相对位置得到自身的规划路径。根据实时规划的路径,设计基于法向偏差的LQR控制器实现轨迹跟踪。最终实现逐步收敛的多机围捕。仿真结果表明,基于平行导引律的多机器人围捕算法是一种时间更优的算法。

A disadvantage of the traditional way of intercepting moving target for multi - robots is that the planning path is redundant, thus a real - time formation control algorithm based on parallel navigation law is introduced in this paper. The parallel navigation law was designed for the virtual leader of the interceptor formation, which was derived according to the motion of it and the target. Based on the formation control algorithm, the interceptors＇ planning position is also determined, thus a LQR controller dealing with the normal deviation between their current and planning position was then designed. The simulation and experiment results are presented to prove the efficiency of this algorithm.