轨迹跟踪级联机器人编队控制方法

提出一种轨迹跟踪级联机器人编队控制方法. 该方法有效结合距离-角度(??-??) 控制和距离-距离(??-??) 控制方案, 并利用无迹卡尔曼滤波算法对Leader-Follower 级联机器人系统的状态进行估计; 根据状态估计结果设计输入-输出动态反馈控制规律, 使得跟随机器人(Follower) 准确跟踪领航机器人(Leader), 确保编队的稳定性和较快的收敛性, 并达到理想的编队控制效果. 仿真实验验证了所提出方法的可行性.

Trajectory tracking cascade robot formation control

A trajectory tracking cascade formation control method for robots is proposed. The method effectively combines distance-angle(??-??) control and distance-distance(??-??) control scheme, and the unscented Kalman filter(UKF) is employed to estimate the state of Leader-Follower’ robots at all levels. The results are used for Follower-robot’s movement control via the input-output dynamic feedback control law which can make the Follower-robot accurately track the Leader-robot, so that stability and fast convergence of the robot formation are ensured and the desired formation of the robots is achieved. Simulation results show the feasibility of the proposed approach.