基于Udwadia-Kalaba方程的交通锥机器人编队摆放控制方法

Udwadia-Kalaba Equation-based Cone Formation Placement Control Method for Traffic Cone Robots

针对交通锥摆放问题,以一类装有标准交通锥模型的移动机器人为研究对象,提出一种新的编队摆放动态控制方法。该方法根据编队摆放条件,构造出交通锥机器人编队摆放的运动学约束,并将编队摆放约束视为控制目标。基于Udwadia-Kalaba方程,建立满足编队摆放的动力学模型,设计基于模型的编队摆放控制器。研究结果表明:所提控制方法能够实现交通锥机器人的编队要求,可进一步解决当前交通锥有序摆放问题。相较于基于领航者-跟随者模型的模型预测控制和基于神经动力学反步控制,所提出的基于模型设计的控制方法,具有编队距离误差收敛速度快和扭矩易于优化等特点。并借助MATLAB仿真软件和物理试验平台,对所提控制方法进行了仿真与试验验证,实现了三角形工况以及直线工况下交通锥机器人的编队摆放控制。试验结果验证了该控制系统的实用性和有效性,为交通锥的摆放提供了一个新的研究思路。

A dynamic control method for achieving traffic cone formations is proposed for a specific class of mobile robots equipped with a standard traffic cone model.The proposed method establishes a kinematic constraint to regulate the formation of traffic cone robots based on the desired placement condition,making it the control objective.By leveraging the Udwadia-Kalaba equation,a dynamic model was developed to meet the formation placement requirements,and a model-based formation placement controller was designed.The results showed that the proposed control method satisfies the formation requirements of the traffic cone robot,effectively addressing the challenge of orderly cone placement.In comparison to model predictive control based on leader-follower models and backstepping control using neural dynamics,the method-based control method proposed in this study exhibits rapid convergence of formation distance error and easy torque optimization.The effectiveness of the control method was validated through simulations in MATLAB and physical experiments on a dedicated platform,respectively.The experiments successfully realized traffic cone robot formation and placement under both triangular and linear conditions,confirming the stability and effectiveness of the control system.This study offers a novel approach to traffic cone placement,providing valuable insights for practical applications.