多移动机器人运动目标环绕与避障控制

Circumnavigation of a moving target and obstacle avoidance with multiple mobile robots

针对多个移动机器人对运动目标的环绕和避障问题进行研究。首先,在基于零空间行为控制架构下设计了控制策略;将机器人的任务分为对运动目标环绕和避免与环境中的障碍物发生碰撞两个基本任务;环绕控制策略采用两个梯度场相互正交的能量函数进行设计,每个能量函数定义一个控制目标,使多个机器人能够以期望的与目标之间的相对距离和机器人之间的距离对目标进行环绕,使用Lyapunov工具对算法进行了渐近稳定性和收敛性分析;最后,仿真和实验结果验证了所提出的控制策略的有效性。

This paper considers the problem of cooperative circumnavigation of a moving target with a group of autonomous mobile robots.Firstly,a novel control strategy is designed by employing the null-space-based behavioral control architecture. The mission of the robots is decomposed into two elementary tasks,which include circumnavigation of the moving target and collision avoidance with obstacles in environment. The circumnavigation control strategy is implemented by using two potential functions. Each function defines a control objective and the gradient fields are orthogonal to each other. It is shown that a group of mobile robots can circumnavigate the moving target with the prescribed radius and inter-robot distances. Then,explicit stability and convergence analysis are illustrated by using Lyapunov tools. Finally,the effectiveness and applicability of the proposed control strategy are demonstrated through simulation and experimental results.