摘要
对多机器人编队的路径规划以及编队运动控制问题进行研究,给出一种多机器人路径规划及编队控制策略。基于IPOPT(Interior Point Optimizer)对A^(*)算法规划的全局路径进行优化,得到轨迹平滑的路径。根据有向图结构给出领航-跟随者型仿射编队控制方法,实现机器人编队队形的控制。最后,在二维空间的封闭有障碍空间下进行编队路径规划与编队运动仿真实验。实验结果表明,该策略能够得到轨迹平滑的路径,并且编队队形收敛快速。
The path planning and formation motion control problems of multi-robot formation are studied.A multi-robot path planning and formation control strategy is proposed.The global path planned by A^(*)algorithm is optimized based on the IPOPT(Interior Point Optimizer)to obtain a path with smooth trajectory.A pilot-follower type affine formation control method is given based on the directed graph structure to realize the control of robot formation configuration.Finally,the formation path planning and formation motion simulation experiments are carried out under the closed obstacle 2D space.The experimental results show that the method given in this paper can get the path with smooth trajectory and the formation configuration converges quickly.
作者
屈军锁
马玉环
蔡星
李鹏飞
QU Junsuo;MA Yuhuan;CAI Xing;LI Pengfei(School of Communications and Information Engineering,Xi’an University of Posts and Telecommunications,Xi’an 710121,China)
出处
《西安邮电大学学报》
2023年第2期82-90,共9页
Journal of Xi’an University of Posts and Telecommunications
基金
国家自然科学基金项目(51875457)
陕西省自然科学基金项目(2018JM6120)
陕西省重点研发计划国际合作项目(2018KW-026)
西安市科技局科技创新引导计划项目(201805040YD18CG24(6))。
关键词
多机器人
A*算法
路径规划
编队控制
仿射变换
multi robot
A*algorithm
path planning
formation control
affine transformation
作者简介
屈军锁(1968-),男,教授,从事物联网和宽带通信研究。E-mail:qujunsuo@xupt.edu.cn;马玉环(1995-),男,硕士研究生,研究方向为信息处理技术。E-mail:maahuan@163.com。
