摘要
针对多机器人编队控制中的协调协作和避障问题,提出一种基于领导-跟随和人工势场法相结合的多机器人分层编队和避障控制策略。首先,领航者进行路径的预先规划和编队导航,虚拟领航者以领航者为参考点,形成期望的组合结构以便引导队形;然后,跟随机器人通过虚拟领航者的引导向目标运动,并在避障避碰策略和群集一致性控制器的作用下实现编队和避碰,控制器中添加势场旋转力来解决可能出现的死锁和局部极小值问题;最后,通过李雅普诺夫稳定性分析和仿真试验验证了方法的有效性。
Aiming at the problem of the coordinated cooperation and obstacle avoidance in multi-robot formation,a multi-robot stratified formation and obstacle avoidance control strategy based on the combination of leader-follower thought and artificial potential field method is proposed. The leader conducts the path pre-planning and formation navigation,and the virtual-leader takes the leader as the reference point to form the desired combination structure to guide the formation. Following the robot through the virtualleader to move to the target,and under the function of the barrier avoidance strategy and cluster consistency controller,the formation and collision avoidance are achieved,the potential field rotation force is added to the controller to solve the possible deadlock and local minimum problem. Finally,the stability analysis and simulation experiments of Lyapunov show the effectiveness of the method.
出处
《装甲兵工程学院学报》
2017年第5期49-54,共6页
Journal of Academy of Armored Force Engineering
关键词
多机器人
编队控制
局部极小值
避障避碰
虚拟领航者
multi-robot
formation control
local minimum
obstacle avoidance and collision avoidance
virtual leader
