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。
A distributed formation controller is designed based on the relative state information between the robots for the robot swarm system with secondorder 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 multirobot 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.
作者
刘伟
李大卫
戴洪德
李飞
LIU Wei;LI Dawei;DAI Hongde;LI Fei(Naval Aviation University,Yantai 264000,China)
出处
《机械与电子》
2021年第7期44-48,共5页
Machinery & Electronics
关键词
机器人集群系统
分布式控制
编队控制
避障
multirobot system
distributed control
formation control
obstacle avoidance
