全向移动机器人编队分布式控制研究

简单介绍了NuBot机器人的两个主要组成部分：全向视觉和全向运动系统，并给出了运动学分析．基于该机器人平台，提出了D-A和D-D控制两种跟踪算法．通过机器人之间的相对定位和局部通信，实现了多机器人编队的分布式控制，同时，该算法可对机器人朝向进行独立控制．针对不同情况下的编队避障问题，提出了编队变形和编队变换两种方法．仿真和实际机器人实验表明，D-A控制方法能够实现平滑的编队变换；编队变形方法能够在尽量保持原始队形的情况下保证编队顺利避障．

Distributed Formation Control for Omnidirectional Robots

This paper proposes two leader-following algorithms named D-A and D-D controllers based upon our NuBot robot team whose two main parts(omni-vision and omnidirectional motion system) together with its kinematics model are briefly described.Based on relative positioning and local communication,the proposed algorithms can implement distributed formation control of multiple robots,and can control the orientation of robots separately.Then two methods of formation distortion and formation switching are proposed for the obstacle avoidance problem of robot formation.Real robot experiments together with simulation results show that the D-A controller can switch the robot formation smoothly and the formation distortion method can avoid obstacles on the basis of changing the original formation as little as possible.