基于轨迹跟踪车式移动机器人编队控制

针对车式移动机器人的运动学模型特点, 提出一种基于轨迹跟踪多机器人编队控制方法. 首先利用编队结构参数确定队形, 根据编队轨迹和相关参数生成虚拟机器人, 把编队控制转化为跟随机器人对虚拟机器人的轨迹跟踪; 然后运用反步法构造车式移动机器人轨迹跟踪系统的Lyapunov 函数, 通过使该函数负定, 得到跟随机器人的轨迹跟踪控制器; 最后在Microsoft robotics developer studio 4 (MRDS4) 中搭建3D 仿真平台, 设计了3 组实验, 所得结果表明了所提出方法的有效性.

Formation control for car-like mobile robots based on trajectory tracking

For the characteristic of the car-like mobile robot, the formation control algorithm is proposed based on the trajectory tracking. The shape of formation is determined by the parameter matrix. The virtual robot is generated according the leader robot and related formation parameters, translating the formation control problem into the trajectory tracking problem between the following robot and virtual robot. The Lyapunov function of the trajectory tracking system is constructed by using the backstepping method. The trajectory tracking controller is obtained by making this function negative. Three groups of experiments are designed in the Microsoft robotics developer studio 4. The simulation results show the effectiveness of the presented method.