多移动微小型机器人编队控制与协作避碰研究

针对多移动微小型机器人系统的协作避碰和队形保持,给出了一种分布式的编队控制方法。结合移动微小型机器人的运动控制模型,提出了一种路径规划方法,使其在运动中实时避免碰撞。在此基础上利用李雅普诺夫(Lyapunov)法设计了一种编队控制器。在有界误差范围内,该控制器能够保证多机器人的轨迹跟踪和协作避碰。通过将编队控制转化为跟踪整个队形质心的轨迹,降低了控制的复杂度,从而可以较好地应用到计算资源有限的多移动微小型机器人中。通过仿真、分析和对比,对以上控制方法的稳定性和可行性进行了验证,并进行了实际的编队和避碰控制实验。实验结果表明该方法可有效地应用于多移动微小型机器人的协作避碰和编队控制。

Formation control and cooperative collision avoidance for multiple mobile miniature robots

A distributed formation control method for cooperative collision avoidance and formation maintenance of multiple mobile miniature robots is presented. Combined with the motion control model of mobile miniature robots, a path planning method is proposed, so that the robots can avoid collision in real time. Utilized the proposed model, a novel controller for formation control is designed by the Lyapunov method, and it can guarantee the trajectory tracking and cooperative collision avoidance within bounded error. The complexity of the formation control is reduced by transforming it into tracking trajectory of the mass center of whole formation, thus it can be better applied to multiple mobile miniature robotwith limited computing resources. The stability and feasibility of the control method are verified by simulation, analysis and comparison, and both the formation control and cooperative collision avoidance are carried out in the practical experiments.The experimental results demonstrate that the method can be applied to the cooperative collision avoidance and formation control of multiple mobile miniature robots effectively.