基于改进DWA和人工势场法的编队控制研究

Formation Control Study Based on Improved Dynamic Window Approach and Artificial Potential Field Method

针对动态窗口法(DWA)在多机器人编队控制中缺乏个体间避碰策略,以及编队成员间的相互作用导致无法有效到达目标点等问题,提出了一种融合改进的DWA和人工势场法的编队控制算法。通过三项关键改进来增强编队控制能力:首先,融合人工势场法实现个体间有效的避碰;其次,在滑动窗口设计引入转向约束规则,增强机器人朝目标导航和未知环境下的全局搜索能力;最后重构评价函数,实现在远距离时优先考虑目标导航,在近距离时强化探索能力。实验表明改进后的DWA提高了多机器人体编队控制的效果和避碰性能,提升了机器人的导航效率及其在复杂环境下的避障和避碰性能。

To address the lack of individual collision avoidance strategies in dynamic window approach(DWA)for multi-robot formation control,as well as the issue of ineffective target point reaching due to interactions among formation members,a formation control algorithm is proposed,which integrates DWA with the artificial potential field method.The efficiency of formation control and the ability of individual collision avoidance are enhanced through three key improvements.Firstly,the artificial potential field method is incorporated to effectively achieve collision avoidance among individuals.Secondly,the sliding window design is optimized by introducing steering constraints,enhancing the robots’ability to navigate towards the goal and global search capability in unknown environments.Thirdly,the evaluation function is reconstructed to prioritize goal navigation at long distances and enhance exploration capabilities at closer ranges.Finally,the results of a series of experiments demonstrate the significant advantages of the improved DWA in enhancing multi-robot formation control effectiveness and collision avoidance performance,thereby improving the navigation efficiency of robots and their obstacle and collision avoidance capabilities in complex environments.