一类非完整轮式机器人的编队一致性

讨论了一类具有非完整约束和有向通信拓扑的轮式机器人的编队一致性问题.基于Zipf分布设计了带有耦合权重的编队一致性协议，减少了机器人间的信息交换，降低机器人编队在复杂的通讯环境中对所有机器人状态信息的依赖程度.将多机器人系统的编队一致性问题转化为误差系统的稳定性分析问题，给出了机器人形成编队的一致性条件，并利用图论和李亚诺夫稳定性理论证明在该条件下可实现系统编队收敛到期望的队形和虚拟领导者的运动规律上的目标.仿真实验和实物实验验证了所设计编队一致性协议的有效性.

Formation Consensus for a Class of Nonholonomic Wheeled Robots

In this paper, we discuss the formation consensus problem of a class of wheeled robots with a nonholonomic constraint and directed communication topology. We design a formation consistency protocol with a coupling weight based on a Zipf distribution to reduce the information exchange between robots and reduce the dependence on state information of all robots in complex communication environments. Thus, we transform the formation consensus problem of the multi-robot system into a stability analysis of the error system. We identify the consistency condition for the formation of the multi-robot system, and use the graph and Lyapunov theories to prove that the formation can converge to the desired geometry and the desired motion rules of the virtual leader under this condition. We perform nontrivial simulations to validate the effectiveness of the distributed cooperative algorithm with coupling weights.