摘要
针对多移动机器人编队避障控制问题,提出一种适用于动、静态障碍环境中的编队避障控制算法。采用慧鱼模型搭建领航跟随多移动机器人系统模型,通过慧鱼ROBO Pro编程软件,实现编队避障控制程序设计,并完成了避障实验,验证了避障算法的有效性。通过该算法的研究,可为未知环境下多移动机器人编队控制研究提供参考,将其应用到实验教学中,可开发出“两性一度”实验,更好地服务于学校“双一流”建设。
To solve the problem of formation obstacle avoidance control for multi-mobile robots,a formation obstacle avoidance control algorithm is proposed for the dynamic and static obstacle environment.The system model of leader-following multi-mobile robot is built by using the Fischer model.Through the control software ROBOPro,the formation obstacle avoidance control program is designed,and the obstacle avoidance experiment is completed in the real environment,which verifies the rationality of the obstacle avoidance algorithm.The algorithm can provide a reference for the research of multi-mobile robot formation control in unknown environment.When it is applied to experimental teaching,the“two characteristics and one challenge”experiment can be developed to better serve the“double first-class construction”of the school.
作者
朱晓林
高诚辉
洪玫
ZHU Xiaolin;GAO Chenghui;HONG Mei(College of Mechanical Engineering and Automation,Fuzhou University,Fuzhou 350108,China)
出处
《实验室研究与探索》
CAS
北大核心
2023年第2期135-141,共7页
Research and Exploration In Laboratory
基金
国家自然科学基金项目(51875106)
教育部产学合作协同育人项目(201802108028)。
关键词
慧鱼模型
多移动机器人
领航跟随
避障控制
fischer model
multi-mobile robot
leader-following
obstacle avoidance control
