多机器人编队跟踪航迹控制研究

Formation Tracking Control of Multi Robot Formation

对多机器人编队跟踪航迹进行控制,能够有效提高多机器人合作工作效率及配合精度。对多机器人编队跟踪航迹的控制,需要实现多机器人各自避障路径的寻找,设计了惩罚函数,完成编队航迹的控制。传统方法利用一致性思想,将对机器人编队控制转换成为系统稳定性问题,构建预测模型,但忽略了设计避障路径的惩罚函数,导致控制精度偏低。针对蚁群算法路径规划初期路径搜索不能规避障碍物的情况,提出人工势场蚁群算法对机器人的编队进行控制。采用栅格法实现机器人的环境建模,实现多机器人各自避障路径的寻找,同时设计了惩罚函数,经过算法层层迭代,路径与队形状态达到最优。仿真结果表明,势场蚁群算法路径规划能够规避障碍,对机器人编队进行控制。

This paper proposes ant colony algorithm of artificial potential field to control formation of robots. First- ly, the robot environment is modeled by using grids, and then obstacle avoidance paths of multi robots are searched, meanwhile, penalty function is designed. Finally, the optimal path and formation state are obtained by iterative algo- rithm. The simulation results show that the proposed algorithm can avoid obstacle and control robot formation.