| 具有避障的机器人集群系统分布式编队控制 |
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| 引用本文： | 刘伟,李大卫,戴洪德,李飞. 具有避障的机器人集群系统分布式编队控制[J]. 机械与电子, 2021, 39(7): 44-48. DOI: 10.3969/j.issn.1001-2257.2021.07.009 |
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| 作者姓名： | 刘伟 李大卫 戴洪德 李飞 |
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| 作者单位： | 海军航空大学,山东 烟台 ２６４０００ |
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| 摘 要： | 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.
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| 关 键 词： | 机器人集群系统 分布式控制 编队控制 避障 |
Distributed Multi-robots System Formation Control with Obstacle Avoidance |
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| LIU Wei,LI Dawei,DAI Hongde,LI Fei. Distributed Multi-robots System Formation Control with Obstacle Avoidance[J]. Machinery & Electronics, 2021, 39(7): 44-48. DOI: 10.3969/j.issn.1001-2257.2021.07.009 |
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| Authors: | LIU Wei LI Dawei DAI Hongde LI Fei |
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| Affiliation: | ( Naval Aviation University , Yantai ２６４０００ , China) |
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| Abstract: | 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． |
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| Keywords: | multi-robot system distributed control formation control obstacle avoidance |
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