具有避障的机器人集群系统分布式编队控制

针对具有线性二阶积分运动学模型的机器人集群系统,基于机器人之间的相对状态信息设计了分布式编队控制器.通过变量替换,将机器人集群系统的编队问题转换为一致性控制问题,推导得到了机器人集群系统实现期望编队队形的充分性条件.利用人工势场函数的方法,设计了具有避障功能的机器人编队控制器.最后,仿真实验证明,机器人集群系统实现编队并能够避免与障碍物发生碰撞.

Distributed Multi-robots System Formation Control with Obstacle Avoidance

A distributed formation controller is designed based on the relative state information between the robots for the robot swarm system with second-order linear dynamics． By performing variable transformation , the formation problem of the robot cluster system is transformed into the consensus control problem , and the sufficient condition for the multi-robot system to achieve the desired formation is derived． Furthermore , by using the artificial potential field function method , a robot formation controller with obstacle avoidance function is designed． Finally , the simulation experiment verifies that the robot cluster system can realize formation and avoid collision with obstacles．