非完整机器人Leader-Follower编队控制器设计

编队控制是多机器人协作的最重要的研究领域,其目的是控制组中的机器人的相对位置和方向,让机器人移动作为一个整体。Le-ader-follower策略已经广泛地应用到多机器人系统编队控制中。文中涉及了非完整移动机器人leader-follower编队控制问题,然后描述了基于leader-follower策略的控制方法,最后采用输入/输出反馈线性化方法设计控制器,以确保编队的渐进稳定。在保持理想的相对距离和转向角时,该控制器能够有效地稳定编队。仿真结果表明了该编队控制方案的有效性。

Design of Leader-Follower Formation Controller for Nonholonomic Mobile Robots

Formation control,which is the most important research area in multi-robot coordination,aims in controlling the relative positions and orientations of robots in a group while allowing the group to move as a whole.Leader-follower strategy has been used extensively for formation control of multi-mobile robot system.This paper deals with leader-follower formation control of nonholonomic mobile robot,and the control law which is derived based on the leader-follower strategy is present,finally,the controller is designed by using input/output feedback linearization to make sure the formation is asymptotically stable.While maintaining the desired relative distance and bearing,the controller has the ability to effectively stabilize the formation.Simulations show the effectiveness of the proposed formation control schemes.