基于势函数的多机器人编队协调控制模型仿真

Simulation of Multi-Robot Formation Coordination Control Model Based on Potential Function

与单机器人相比,如果多机器人编队协调控制性能过差会导致编队队形散乱,影响多机器人编队工作效率,为了提升多机器人编队协调控制能力,提出基于势函数的多机器人编队协调控制方法。依据一致性协议构建多机器人编队数学模型,利用势函数将多机器人编队数学模型由初始散乱状态转化为领导者-跟随者状态,将状态转化后的多机器人编队数学模型与Backstepping控制器结合输出控制策略,根据控制策略的期望方位调整领航方位,避免领导型机器人的运动轨迹偏离目标运动轨迹,实现多机器人编队的协调控制。仿真结果表明,所提方法控制下编队内各机器人步调统一,队形保持情况较好,说明该方法的协调控制性能较强。

Compared with a single robot,if the coordination control for multi-robot formation is not ideal,it will lead scattered formation and affect the efficiency of multiple robot formations.In order to improve the ability of controlling multi-robot formation coordination,this paper presented a method of controlling multi-robot formation coordination based on potential function.At first,we constructed a mathematical model of multi-robot formation according to the consensus protocol.And then,we used potential functions to transform the mathematical model from the initial state to the leader-follower state.Moreover,we combined the transformed model with Backstepping controller to output control strategy.According to the desired position of strategy,we adjusted the navigation,thus avoiding the movement trajectory of leader robot from deviating from the target trajectory.Finally,we completed the coordinated control for multi-robot formation.The simulation results show under the control of the proposed method,the pace of each robot in the formation is unified and the formation is well maintained,indicating that the coordinated control performance of the method is strong.