双参考点切换的多移动机器人队形运动控制方法

为描述机器人队列的运动过程,从相对位姿的角度定义了多移动机器人的队形模型.在传统leader-following队形控制的基础上,引入切换控制思想,每对领路机器人与跟随机器人之间设计3个控制器,对应跟随机器人中轴线上两参考点分别设计两个运动子控制器,控制领路机器人与跟随机器人之间的相对位姿;切换控制器根据系统处于平衡状态时,跟随机器人线速度的符号切换运动控制器,从而保证队列收敛到目标队形.仿真实验结果表明,机器人队列表现出良好的整体一致性,队列运动更加平稳.

Formation motion control for multiple mobile robots based on switching control between two reference points

A model of formation is developed by considering the relative position and the orientation between two robots. On the basis of the traditional leader-following schema, the idea of switching control is introduced into the formation control for multiple mobile robots. There are three controllers between the leading robot and the following robots. Two motion sub-controllers, which control the relative position and the orientation between the leading robot and the following robots, are designed corresponding to two reference points on the axis of the following robot chassis. The switching condition of the two sub-controllers is based on the sign of the linear speed of the following robot when the system reaches the state of equilibrium. Therefore, the queue constituted by multiple mobile robots can converge to the desired formation. The results of simulation show that the queue constituted by multiple mobile robots performs the desirable uniform movements, and the formation of the queue is performed smoothly in the course of movement.