基于领航-跟随法的移动机器人编队控制分析

Analysis of Mobile Robot Formation Control Based on Pilot-Following Method

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.