[1]杨甜甜,刘志远,陈 虹,等.移动机器人编队控制的现状与问题[J].智能系统学报,2007,2(04):21-27.
 YANG Tian-tian,LIU Zhi-yuan,CHEN Hong,et al.Formation control of mobile robots: state and open prob lems[J].CAAI Transactions on Intelligent Systems,2007,2(04):21-27.
点击复制

移动机器人编队控制的现状与问题(/HTML)
分享到:

《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第2卷
期数:
2007年04期
页码:
21-27
栏目:
出版日期:
2007-08-25

文章信息/Info

Title:
Formation control of mobile robots: state and open prob lems
文章编号:
1673-4785(2007)04-0021-07
作者:
杨甜甜1 刘志远1 陈 虹2 裴 润1
1.哈尔滨工业大学控制科学与工程系, 黑龙江哈尔滨150001;
2.吉林大学控制科学与工程系,吉林长春130025
Author(s):
YANG Tian-tian1 LIU Zhi-yuan1 CHEN Hong2 PEI Run1 
1. Department of Control Science and Engineering, Harbin Institute of Technolog y, Harbin 150001, China;  
2. Department of Control Science and Engineering, Jilin University, Changchun 130025, China
关键词:
移动机器人编队控制协调合作
Keywords:
mobile robot formation control coordination cooper ation
分类号:
TP24
文献标志码:
A
摘要:
随着机器人向系统应用的方向发展,移动机器人编队控制问题成为研究的热点问题.为此,依据解决编队控制问题的不同思路,总结了编队控制的各种研究方法:基于行为法、人工势场法、跟随-领航法、虚结构法、循环法、模型预测控制法、分布式控制法,分别对几种编队控制方法的基本思想和特点进行总结和分析,最后从通用性、稳定性、鲁棒性和安全性等方面阐述了移动机器人编队控制理论与应用方面有待进一步研究的几个主要问题.
Abstract:
In recent years, research on formation control has received a lot of attention i n robotics. This paper presents a comprehensive review of formation control for multiple mobile robots under different scenarios. Proposals for formation contro l reviewed include a behaviorbased approach, an artificial potential field app roach, a leaderfollower approach, a virtual structural approach, a cyclic appr oach, a model predictive control approach, and a distributed control approach. P roblems identified in working with each model’s theoretical and practical proper ties are discussed from the perspectives of generality, stability, robustness an d safety.

参考文献/References:

[1] BALCH T, ARKIN R C. Behaviorbased formation control for multirobot teams [J]. IEEE Transactions on Robotics and Automation, 1998, 14(6): 926-939.
[2]CAO Z Q, XIE L J, ZHANG B, et al. Formation constrained multirobot system in unknown environments [A]. Proceedings of the IEEE International Conference on Robotics and Automation [C]. Taipei, China,2003.
[3]CAO Z Q, TAN M, WANG S, et al. The optimization research of formation contr ol for multiple mobile robots [A]. Proceedings of the 4th World Congress on Inte lligent Control and Automation [C]. Shanghai, China,2002.
[4]MONTEIRO S, BICHO E. A dynamical systems approach to behavior based formati on control [A]. Proceedings of the IEEE International Conference on Robotics and Automation [C]. Washington, DC, 2002.
[5]BALCH T, HYBINETTE M. Social potentials for scalable multirobot formation s [ A]. Proceedings of the IEEE International Conference on Robotics and Automatio n [C]. San Francisco, 2000.
[6]KOSTELNIK P, SAMULKA M, JANOSIK M. Scalable multirobot formations using l oca l sensing and communication [A]. Proceedings of the 3rd International Worksho p on Robot Motion and Control [C]. Poznan, 2002.
[7]KHATIB. Realtime obstacle avoidance for manipulators and mobile robots [ J]. International Journal of Robotics Research, 1986, 5 (1): 290-298.
[8]DUDENHOEFFER D D, MICHAEL P J. A formation behavior for largescale micro rob ot force deployment [A]. Proceedings of the 2000 Winter Simulation Conference [C]. New York, 2000.
[9]贾秋玲, 闫建国, 王新民. 基于势函数的多机器人系统的编队控制 [J].机器人, 2006,28(2): 111-114. 
JIA Qiuling, YAN Jianguo, WANG Xinmin. Formation control of multiple robot sys tem based on potential function [J]. Robot, 2006, 28(2):111-114.
[10]GE S S, FUA C H, LIM K W. Multirobot formations: queues and arti ficial pote ntial trenches [A]. Proceedings of the IEEE International Conference on Roboti cs and Automation [C]. New Orleans, 2004.
[11]LIANG Y, LEE H H. Decentralized formation control and obstacle avoidance f or multiple robots with nonholonomic constraints [A].Proceedings of the 2006 American Control Conference [C]. Minneapolis, 2006.
[12]LEONARD N E, FIORELLI E. Virtual leaders, artificial potentials and coordi na ted control of groups [A]. Proceedings of the 40th IEEE International Conferen ce on Decision and Control [C]. Orlando, 2001.
[13]OGREN P, FIORELLI E, LEONARD N E. Formations with a mission: stable coordi na tion of vehicle group maneuvers [A]. Proceedings of the 15th International Sym posium on Mathematical Theory of Networks and Systems [C]. Notre Dame, 2002.
[14]STABER R O, MURRAY R M. Distributed cooperative control of multiple vehicl e formations using structural potential functions [A]. Proceedings of the 15th I FAC World Congress [C]. Barcelona, 2002.
[15]BARAS J S, TAN X B, PEDRAM H. Decentralized control of autonomous vehicl es [ A].Proceedings of the 42nd IEEE Conference on Decision and Control [C]. Hawai i, 2003.
[16]RIMON E, KODITSCHEK D E. Exact robot navigation using artificial potential [ J]. IEEE Transactions on Functions Robotics and Automation, 1992, 8(5):501-518.
[17]PETTER O. Split and join of vehicle formations doing obstacle avoidance [ A]. Proceedings of the 2004 IEEE International Conference on Robotics and Automatio n [C]. New Orleans, 2004.
[18]PETTER O, NAOMI E L. Obstacle avoidance in formation [A]. Proceedings of the 2003 IEEE International Conference on Robotics and Automation [C]. Taipei, Ch ina, 20 03.
[19]COWAN N, SHAKERINA O, VIDAL R, et al. Visionbased followtheleader [ A]. Pr oceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems [C]. Las Vegas, 2003.
[20]CHEN X P, SERRANI A, OZBAY H. Control of leaderfollower formations of te rre strial UAVs [A]. Proceedings of the 42nd IEEE Conference on Decision and Contr ol [C]. Maui, Hawaii, 2003.
[21]DESAI J, OSTROWSKI J P, Kumar V. Controlling formations of multiple mobile robots [A]. Proceedings of the IEEE International Conference on Robotics and Automati on [C]. Piscataway, 1998.
[22]DESAI J, OSTROWSKI J P, KUMAR V. Modeling and control of formations of non ho lonomic mobile robots [J]. IEEE Transactions on Robotics and Automation, 2001, 17 (6):905 - 908.
[23]FUJIMORI A, FUJIMOTO T, GABOR B. Distributed leaderfollower navigation o f m obile robots [A]. 2005 International Conference on Control and Automation [C ]. Budapest, 2005.
[24]石桂芬, 方华京. 基于相邻矩阵的多机器人编队容错控制 [J].华中科技大学学报, 2005, 33(3): 39-42.
 SHI Guifen, FANG Huajing. Fault tolerance of multirobot formation based on a djacency matrix [J]. Journal of Huazhong University of Science and Technology, 2005, 33(3):39-42.
[25]TAN K H, LEWIS M A. Virtual structures for highprecision coopera t ive mobile robotic control [A].Proceedings of the 1996 IEEE/RSJ International Conference Intelligent Robots and Systems [C]. Osaka, 1996.
[26]BEARD R W, LAWTON J, HADAEGH F Y. A coordination architecture for spacecra ft formation control [J]. IEEE Transactions on Control Systems Technology, 2001, 9(6): 777-790.
[27]REN W, BEARD R W. A decentralized scheme for spacecraft formation flying v ia the virtual structure approach [A]. In Proceedings of the 2003 American Contr ol Conference [C]. Denver, 2003.
[28]ANDERSON M R, ROBBINS A C. Formation flight as a cooperative game [A]. A IAA Guidance, Navigation and Control Conference [C]. Boston, 1998. 
[29]WANG P K C. Navigation strategies for multiple autonomous mobile robots mo ving in formation [J]. J Robotic Systems, 1991, 8(2): 177-195.
[30]SUGIHARA K, SUZUKI I. Distributed algorithms for formation of geometric pa tterns with many mobile robots [J]. J Robotic Systems, 1996, 13(3):127-139.
[31]YUN X, ALPTEKIN G, ALBAYRAK O. Line and circle formation of distributed ph ysical mobile robots [J]. J Robotic Systems, 1997, 14(2):63-76.
[32]WANG P K C, HADAEGH F Y. Selforganizing control of multiple freeflying min iature spacecraft in formation [A]. AIAA Guidance, Navigation and Control Conf erence [C]. Denver, 2000. 
[33]MCLNNES C R. Autonomous ring formation for a planar constellation of satel lites [J]. J Guidance Control Dynamics, 1995, 18(5): 1215-1217.
[34]PALMERINI G B. Guidance strategies for satellite formations [A]. AAS/AIA A Astrodynamics Specialist Conference[C]. Girdwood, 1999.
[35]YOUNG B J. Mobile robots: Coordination and control [D]. Provo: B righam Young University, 2000.
[36]YOUNG B J, BEARD R W, KELSEY J M. A control scheme for improving multive hic le formation maneuvers [A]. Proceedings of the American Control Conference [C ]. Arlington, 2001.
[37]DUNBAR W B. Model predictive control: Extension to coordinated multivehi cle formations and realtime implementation [R]. Pasadena: California Institute of Technology, 2001.
[38]DUNBAR W B, MURRAY R M. Model predictive control of coordinated multiveh icl e formations [A]. Proceedings of the IEEE Conference on Decision and Control [C]. Las Vegas, 2002.
[39]KEVICZKY T, BORRELLIT F, BALAS G J. Hierarchical design of decentralized r ec eding horizon controllers for decoupled systems [A]. 43rd IEEE Conference on D ecision and Control [C]. Nassau, 2004.
[40]DUNBAR W B, MURRAY R M. Distributed receding horizon control with applicat io n to multivehicle formation stabilization [J]. Automatica, 2006, 42(4):549-5 58.
[41]OLFATI S R, MURRAY R M. Distributed structural stabilization and trackin g fo r formations of dynamics multiagents [A]. Proceedings of the 41st IEEE Confe rence on Decision and Control [C]. Las Vegas, 2002.
[42]LAWTON J R T, BEARD R W, YOUNG B J. A decentralized approach to formation ma neuvers [J]. IEEE Transactions on Robotics and Automation, 2003, 19(6): 933-94 1. 
[43]LOIZOU S G. Decentralized feedback stabilization of multiple nonholonomic ag ents [A]. Proceedings of the 2004 IEEE International Conference on Robotics an d Automation [C]. New Orleans, 2004.
[44]YAMAGUCHI H, ARAIB T, BENIC G. A distributed control scheme for multiple r ob otic vehicles to make group formations [J]. Robotics and Autonomous Systems, 2 003, 36(4):125-147.
[45]HONG S W, SHIN S W, AHN D S. Formation control based on artificial i ntelli ge nce for multiagent coordination [A]. Proceedings of the IEEE International S ymposium on Industrial Electronics [C]. Pusan, 2001.
【46]DAS A K, FIERRO R, KUMAR V, et al. A visionbased formation contro l fram ew ork [J]. IEEE Transactions on Robotics and Automation, 2002, 18(5):813-825.
[47]VIDAL R, SHAKERNIA O, SASTRY S. Formation control of nonholonomic mobile r ob ots with omnidirectional visual servoing and motion segmentation [A]. Proceedi ng s of the IEEE International Conference on Robotics and Automation [C]. Taipei, China,2003.
[48]SPRY S, HEDRICK J K. Formation control using generalized coordinates [A] . Pr oceedings of IEEE International Conference on Decision and Control [C].Atlanti s, Bahamas, 2004.
[49]GOLDGEIER M, ZHANG F, KRISHNAPRASAD P S. Control of small formation using sh ape coordinates [A]. Proceedings of the International Conference on Robotics a nd Automation [C]. Taipei, China,2003.
[50]YAMAKITA M, SAITOM. Formation control of SMC with multiple coordinate syst em s [A]. Proceedings of the International Conference on Intelligent Robots and S ystems[C]. Sendai, 2004.

相似文献/References:

[1]蔡自兴,王 勇,王 璐.基于角点聚类的移动机器人自然路标检测与识别[J].智能系统学报,2006,1(01):52.
 CAI Zi-xing,WANG Yong,WANG Lu.Corner clustering based detection and recognition of natural landmark for mobile robot[J].CAAI Transactions on Intelligent Systems,2006,1(04):52.
[2]李润伟,蔡自兴,童宇,等.基于ATM的提高狭窄环境探测精度的改进方法[J].智能系统学报,2008,3(04):283.
 LI Run-wei,CAI Zi-xing,TONG Yu.Improving the accuracy of exploring the narrow environment by using ATM[J].CAAI Transactions on Intelligent Systems,2008,3(04):283.
[3]霍成立,谢 凡,秦世引.面向室内移动机器人的无迹滤波实时导航方法[J].智能系统学报,2009,4(04):295.
 HUO Cheng-li,XIE Fan,QIN Shi-yin.A case study in realtime UKFbased navigation for indoor autonomous travel of mobile robots[J].CAAI Transactions on Intelligent Systems,2009,4(04):295.
[4]海 丹,李 勇,张 辉,等.无线传感器网络环境下基于粒子滤波的移动机器人SLAM算法[J].智能系统学报,2010,5(05):425.[doi:10.3969/j.issn.1673-4785.2010.05.008]
 HAI Dan,LI Yong,ZHANG Hui,et al.Simultaneous localization and mapping of a mobile robot in wireless sensor networks based on particle filtering[J].CAAI Transactions on Intelligent Systems,2010,5(04):425.[doi:10.3969/j.issn.1673-4785.2010.05.008]
[5]房立金,王洪光.架空线移动机器人行走越障特点[J].智能系统学报,2010,5(06):492.
 FANG Li-jin,WANG Hong-guang.Research on the characteristics of the movement and obstacleclearing processes of a wiresuspended mobile robot[J].CAAI Transactions on Intelligent Systems,2010,5(04):492.
[6]袁健,唐功友.采用一致性算法与虚拟结构的多自主水下航行器编队控制[J].智能系统学报,2011,6(03):248.
 YUAN Jian,TANG Gongyou.Formation control of autonomous underwater vehicles with consensus algorithms and virtual structure[J].CAAI Transactions on Intelligent Systems,2011,6(04):248.
[7]来金钢,陈士华,路晓庆.具有时变时滞耦合的二阶多主体系统的编队控制[J].智能系统学报,2012,7(02):135.
 LAI Jingang,CHEN Shihua,LU Xiaoqing.Formation control for secondorder multiagent systems with timevarying delays[J].CAAI Transactions on Intelligent Systems,2012,7(04):135.
[8]雷明,周超,周绍磊,等.考虑时变时滞的多移动智能体分布式编队控制[J].智能系统学报,2012,7(06):536.
 LEI Ming,ZHOU Chao,ZHOU Shaolei,et al.Decentralized formation control of multiple mobile agents considering timevarying delay[J].CAAI Transactions on Intelligent Systems,2012,7(04):536.
[9]任立敏,王伟东,杜志江.移动机器人队形控制关键技术及其进展[J].智能系统学报,2013,8(05):381.[doi:10.3969/j.issn.1673-4785.201302011]
 REN Limin,WANG Weidong,DU Zhijiang.Key technologies and development of formation control of mobile robots[J].CAAI Transactions on Intelligent Systems,2013,8(04):381.[doi:10.3969/j.issn.1673-4785.201302011]
[10]贺超,刘华平,孙富春,等.采用Kinect的移动机器人目标跟踪与避障[J].智能系统学报,2013,8(05):426.[doi:10.3969/j.issn.1673-4785.201301028]
 HE Chao,LIU Huaping,SUN Fuchun,et al.Target tracking and obstacle avoidance of mobile robot using Kinect[J].CAAI Transactions on Intelligent Systems,2013,8(04):426.[doi:10.3969/j.issn.1673-4785.201301028]
[11]吴垠,刘忠信,陈增强,等.一种基于模糊方法的领导-跟随型多机器人编队控制[J].智能系统学报,2015,10(04):533.[doi:10.3969/j.issn.1673-4785.201407014]
 WU Yin,LIU Zhongxin,CHEN Zengqiang,et al.Formation control of leader-following type multi-robotbased on fuzzy control method[J].CAAI Transactions on Intelligent Systems,2015,10(04):533.[doi:10.3969/j.issn.1673-4785.201407014]

备注/Memo

备注/Memo:
收稿日期:2006-11-23.
基金项目:国家自然科学基金资助项目(60234030,60374027)
作者简介:
杨甜甜,女,1980年生,博士研究生,主要研究方向为多移动机器人的滚动时域编队控制. E-mail:creance@126.com.
刘志远,男,1957年生,教授,博士生导师,主要研究方向为汽车电子控制、机器人控制、鲁棒控制和预测控制,曾获教育部自然科学二等奖,发表学术论文60余篇. E-mail: liuzy_hit@hit.edu.cn.
陈 虹,女, 1969年生,教授,1997年以最高荣誉(mitAuszeichnung) 在德国斯图加特大学获工学博士学位,主要研究方向为预测控制、最优控制、鲁棒控制及非线性控制理论及应用. E-mail: chenh@jlu.edu.cn
更新日期/Last Update: 2009-05-07