轮式移动机器人沿相同目标轨迹的编队运动控制

FORMATION MOTION CONTROL OF THE WHEELED MOBILE ROBOTS ALONG AN IDENTICAL TARGET TRAJECTORY

为使轮式移动机器人编队能在某些特殊地形中沿着狭长路线顺利地执行任务,需要通过控制实现所有移动机器人沿着相同的路径运动。为了实现这一编队运动控制任务,本研究采用了领航跟随法的控制策略。首先,将目标路径曲线设计成动态跟踪目标的形式,通过动态跟踪目标中的相对曲率实现领航者对目标曲线精确跟踪。然后,找出领航机器人与跟随机器人的相对角度和目标轨迹曲线之间的关系,采用双闭环控制器设计思路实现领航者和跟随者沿相同轨迹运动。在双闭环控制器中,外环采用直接Lyapunov函数方法构造姿态控制器,内环使用时变障碍Lyapunov函数法构造力矩控制器。最后,基于Matlab进行数值仿真,验证所提控制策略的有效性和鲁棒性。

In order for a formation of the wheeled mobile robots to smoothly execute tasks along the narrow paths in certain special terrains,it is often necessary to control all mobile robots to move along the same target trajectory curve.To achieve this formation motion control task,a leader-follower control strategy is proposed in this paper.First,the target path curve is designed in the form of a dynamically tracked target,which achieves accurate tracking of the target curve by tracking the relative curvature in the dynamically tracked target.Then,the relation between the target trajectory curve and the relative angles of the leader and follower is found to design the closed-loop controller.In the double closed-loop controller,an attitude controller is constructed by using the direct Lyapunov function method for the outer loop,while a torque controller is formulated by the time-varying obstacle Lyapunov function method for the inner loop.Finally,numerical simulations are performed to verify the effectiveness and robustness of the proposed control strategy.