| 非完整移动机器人领航-跟随编队分布式控制 |
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| 引用本文： | 易国,毛建旭,王耀南,郭斯羽,缪志强.非完整移动机器人领航-跟随编队分布式控制[J].仪器仪表学报,2017,38(9):2266-2272. |
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| 作者姓名： | 易国 毛建旭 王耀南 郭斯羽 缪志强 |
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| 作者单位： | 1.机器人视觉感知与控制技术国家工程实验室长沙410082；2.湖南大学电气与信息工程学院长沙410082,1.机器人视觉感知与控制技术国家工程实验室长沙410082；2.湖南大学电气与信息工程学院长沙410082,1.机器人视觉感知与控制技术国家工程实验室长沙410082；2.湖南大学电气与信息工程学院长沙410082,1.机器人视觉感知与控制技术国家工程实验室长沙410082；2.湖南大学电气与信息工程学院长沙410082,香港中文大学机械与自动化工程学系香港999077 |
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| 基金项目： | 国家自然科学基金(61573134, 61433016, 61471167,61733004)、国家科技支撑计划(2015BAF13B00)项目资助 |
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| 摘 要： | 针对非完整移动机器人运动学模型的特点,并且考虑机器人之间的交互关系是局部的,提出了一种基于领航-跟随的非完整多移动机器人分布式编队控制方法。首先提出了一种分布式估计策略,为每个跟随机器人估计(虚拟)领航机器人的位置、方向、线速度等状态;接着利用每个跟随机器人的跟踪误差设计了编队控制算法;使用Lyapunov工具对算法进行了渐近稳定性和收敛性分析;最后,构建了多移动机器人视觉定位与控制实验平台,通过仿真和实验验证了所提算法的有效性。
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| 关 键 词： | 非完整移动机器人 编队控制 领航 跟随 分布式控制 |
Distributed control for leader follower formation tracking of multiple nonholonomic vehicles |
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| Yi Guo,Mao Jianxu,Wang Yaonan,Guo Siyu and Miao Zhiqiang.Distributed control for leader follower formation tracking of multiple nonholonomic vehicles[J].Chinese Journal of Scientific Instrument,2017,38(9):2266-2272. |
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| Authors: | Yi Guo Mao Jianxu Wang Yaonan Guo Siyu and Miao Zhiqiang |
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| Affiliation: | 1. National Engineering Laboratory for Robot Visual Perception and Control Technology, Changsha 410082, China; 2. College of Electrical and Information Engineering, Hunan University, Changsha 410082, China,1. National Engineering Laboratory for Robot Visual Perception and Control Technology, Changsha 410082, China; 2. College of Electrical and Information Engineering, Hunan University, Changsha 410082, China,1. National Engineering Laboratory for Robot Visual Perception and Control Technology, Changsha 410082, China; 2. College of Electrical and Information Engineering, Hunan University, Changsha 410082, China,1. National Engineering Laboratory for Robot Visual Perception and Control Technology, Changsha 410082, China; 2. College of Electrical and Information Engineering, Hunan University, Changsha 410082, China and Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong 999077, China |
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| Abstract: | Aiming at the characteristics of the kinematic model of nonholonomic vehicle, considering that the interaction relationships among the vehicles are local, a distributed formation control algorithm for nonholonomic vehicles based on leader follower is proposed in this paper. Firstly, a distributed estimation strategy is proposed, which estimates the states, including the position, orientation, and linear velocity of the (virtual) leader for each follower vehicle. Then, a formation control algorithm is designed based on the tracking error of each follower vehicle. An asymptotic stability and convergence analyses of the algorithm are performed using Lyapunov tools. Finally, the visual positioning and control experiment platform of multiple vehicles was constructed; and simulation and experiment results verify the effectiveness of the proposed algorithm. |
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| Keywords: | nonholonomic vehicle formation control leader follower distributed control |
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