基于虚拟群集中心的局部信息下多移动机器人编队控制研究

Virtual flocking center based multiple mobile robot formation control under local information

针对移动机器人感知能力有限,仅能根据周围邻居的行为对自身的运动进行调节的问题,在REYNOLDS提出的群集运动规则的指导下,设计了一种基于虚拟群集中心的多移动机器人编队控制算法。通过设计分布式虚拟群集中心估计器,使每个个体都向自身的虚拟群集中心靠拢,并通过理论分析证明了所设计的虚拟群集中心都能最终收敛到实际的群集中心。在此基础上,利用人工势场法和速度一致准则实现了多移动机器人的编队运行。实验结果表明:移动机器人群集在领航机器人的带领下最终会进入稳定运行状态,个体速度趋于一致,相互间的距离保持稳定。

Aiming at the problem of limited sensing capability of mobile robots who could only adjust their movement according to the motion behavior of their neighbors,a virtual flocking center based multi-robots formation control algorithm was designed according to REYNOLDS＇s flocking control rules. A distributed virtual flocking center estimator was designed to make individuals move toward their own virtual flocking center,which was proved by theoretical analysis that the virtual flocking center would ultimately converge to the real flocking center. Moreover,artificial potential approach and velocity consensus rule were adopted to realize the formation control of multi-robots. The results indicate that the mobile robots eventually enter the steady state under the leadership of the robot,the individual＇s speed tends to be the same,and the distance between each other is stable.