一种领航-跟随型多移动机器人编队控制方法
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摘要
针对多移动机器人的路径规划、编队成形与编队保持问题,本文提出了一种集路径规划和轨迹跟踪于一体的领航-跟随型编队控制方法。将改进型人工势场法引入领航机器人的在线局部路径规划中,有效解决了领航-跟随型编队运动中的无碰撞路径规划问题;采用滑模运动控制方法,设计了一种自主调节移动机器人线速度和角速度的轨迹跟踪控制器,解决了跟随机器人实时追踪预定轨迹的实时控制问题。这种综合路径规划和轨迹跟踪的一体化多机编队控制方法,有助于解决多无人系统编队、多机协作搬运等复杂作业任务。
This paper presents a novel integrated method of leader-follower formation control,it could solve the path planning,formation forming maintain for multi-robot systems in an environment cluttered with obstacles.Firstly,the artificial potential field is employed to leader-follower formation controller to online plan,it leads a path from the initial position to the goal position avoiding all collisions with the obstacles. Then,the trajectory tracking method with sliding mode control is introduced to adjust linear velocity and orientation of the follower robots to form and maintain the predefined formation. Finally,the integrated method of leader-follower formation control has been verified by a triangular formation simulation experiment with three robots.
This paper presents a novel integrated method of leader-follower formation control,it could solve the path planning,formation forming maintain for multi-robot systems in an environment cluttered with obstacles.Firstly,the artificial potential field is employed to leader-follower formation controller to online plan,it leads a path from the initial position to the goal position avoiding all collisions with the obstacles. Then,the trajectory tracking method with sliding mode control is introduced to adjust linear velocity and orientation of the follower robots to form and maintain the predefined formation. Finally,the integrated method of leader-follower formation control has been verified by a triangular formation simulation experiment with three robots.
引文
[1] Hao N D,Mohamed B,Rafaralahy H,et al. Formation of leader-follower quadrotors in cluttered environment[C]. American Control Conference, IEEE,2016:6477-6482.
[2] Jaydev P Desai,James P Ostrowski,Vijay Kumar.Modeling and control of formations of nonholonomic mobile robots[J]. IEEE Trans on Robotics and Automation,2001,17(6):905-908.
[3] Dai Y,Lee S G. The leader-follower formation control of nonholonomic mobile robots[J]. International Journal of Control,Automation and Systems,2012,10(2):350-361.
[4] Wei Ren,Nathan Sorensen. Distributed coordination architecture for multi-robot formation control[J].Robotics and Autonomous Systems,2008,56(4):324-333.
[5] Amoozgar M. H.,Alipour K. l.,Sadati S. H. A fuzzy logic-based formation controller for wheeled mobile robots[J]. Industrial Robot,2011,38(3):269-281.
[6] Dierks,T.,S. Jagannathan. Neural network output feedback control of robot Formations[J]. IEEE Transactions on Systems,Man,Cybernetics-Part B:Cybernetics,2010,40(2):383-399.
[7] Kowdiki K H,Barai R K,Bhattacharya S. Leaderfollower formation control using artificial potential functions:A kinematic approach[C]. International Conference on Advances in Engineering, Science and Management. IEEE,2012:500-505.
[8]闫茂德,吴青云,贺昱曜.非完整移动机器人的自适应滑模轨迹跟踪控制[J].系统仿真学报,2007,19(3):579-581.
[9] Asif M. Integral terminal sliding mode formation control of non-holonomic robots using leader follower approach[J]. Robotica,2016,-1(7):1-15.
[2] Jaydev P Desai,James P Ostrowski,Vijay Kumar.Modeling and control of formations of nonholonomic mobile robots[J]. IEEE Trans on Robotics and Automation,2001,17(6):905-908.
[3] Dai Y,Lee S G. The leader-follower formation control of nonholonomic mobile robots[J]. International Journal of Control,Automation and Systems,2012,10(2):350-361.
[4] Wei Ren,Nathan Sorensen. Distributed coordination architecture for multi-robot formation control[J].Robotics and Autonomous Systems,2008,56(4):324-333.
[5] Amoozgar M. H.,Alipour K. l.,Sadati S. H. A fuzzy logic-based formation controller for wheeled mobile robots[J]. Industrial Robot,2011,38(3):269-281.
[6] Dierks,T.,S. Jagannathan. Neural network output feedback control of robot Formations[J]. IEEE Transactions on Systems,Man,Cybernetics-Part B:Cybernetics,2010,40(2):383-399.
[7] Kowdiki K H,Barai R K,Bhattacharya S. Leaderfollower formation control using artificial potential functions:A kinematic approach[C]. International Conference on Advances in Engineering, Science and Management. IEEE,2012:500-505.
[8]闫茂德,吴青云,贺昱曜.非完整移动机器人的自适应滑模轨迹跟踪控制[J].系统仿真学报,2007,19(3):579-581.
[9] Asif M. Integral terminal sliding mode formation control of non-holonomic robots using leader follower approach[J]. Robotica,2016,-1(7):1-15.