全向移动小车编队轨迹跟踪及防碰撞控制系统研究

Trajectory Tracking by Mecanum Wheeled Omnidirectional Vehicles in Formation with Collision Avoidance

针对麦克纳姆轮全向移动小车编队的轨迹跟踪中可能发生的碰撞问题,提出了一种在编队运行过程中实现小车个体相互之间防碰撞的轨迹跟踪方法。首先,建立麦克纳姆轮全向移动小车的运动学和动力学模型;其次,基于滑模控制理论对小车编队进行设计,使其以固定的几何队形达到期望的位置;然后设计一种人工势能函数来保证编队在运行过程中小车个体间的防碰撞;最后,构建出编队的整体输入控制,并且利用李雅普诺夫理论证明了编队的稳定性。通过仿真验证了小车编队可以保持固定队形实现轨迹跟踪,并且在运行过程中防止相互之间碰撞。研究以全向移动小车为研究对象,解决了在防碰撞条件下的编队轨迹跟踪问题,有助于加快多智能体系统的实用化进程。

Aiming at the trajectory tracking problem of the omnidirectional vehicles formation of Mecanum wheel,this paper proposes a trajectory tracking method where the vehicles can avoid collision during the formation process.Firstly,the kinematics and dynamics model of the omnidirectional moving vehicle of the Mecanum wheel are established.Secondly,the formation of the vehicles based on the sliding mode control theory is designed so that it can reach the desired position with a fixed geometric formation.Then,in order to ensure that the vehicles do not collide with each other during the formation process,an artificial potential function is designed.Finally,the overall input control of the formation is constructed,and the stability of the formation is proved by Lyapunov theory.Through simulation,it can be verified that the vehicles formation can maintain a fixed formation to achieve trajectory tracking,and cannot collide with each other during operation.The research in this paper takes omnidirectional mobile vehicles as the research object,solves the problem of formation trajectory tracking under anti-collision conditions,and can accelerate the practical process of multi-agent systems.