摘要
阐述移动机器人采用领航-跟随法进行编队时,会因跟随机器人故障而无法继续运行,采用基于Back-stepping的李雅普诺夫稳定性原理设计编队控制器,然后针对跟随机器人故障问题提出“产品生产选择机制”思路,对其进行Matlab仿真实验,仿真结果表明,所提算法是有效的。
This paper describes that when the mobile robot uses the pilot-following method to form a formation, it will be unable to continue to run because of the following robot fault. The formation controller is designed based on the Lyapunov stability principle based on Back-stepping, and then the idea of "product production selection mechanism" is proposed for the following robot fault problem. The simulation results show that the proposed algorithm is effective.
作者
吴梅花
WU Meihua(Taishan College of Science and Technology,Shandong 271000,China)
出处
《集成电路应用》
2023年第1期264-265,共2页
Application of IC
关键词
编队控制
产品生产选择机制
跟随机器人故障
formation control
product production selection mechanism
following robot failure