[1]李苗,刘忠信,陈增强.一种多非完整移动机器人分布式编队控制方法[J].智能系统学报,2017,12(01):88-94.[doi:10.11992/tis.201512021]
 LI Miao,LIU Zhongxin,CHEN Zengqiang.A distributed formation control method formultiple nonholonomic mobile robots[J].CAAI Transactions on Intelligent Systems,2017,12(01):88-94.[doi:10.11992/tis.201512021]
点击复制

一种多非完整移动机器人分布式编队控制方法(/HTML)
分享到:

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

卷:
第12卷
期数:
2017年01期
页码:
88-94
栏目:
出版日期:
2017-02-25

文章信息/Info

Title:
A distributed formation control method formultiple nonholonomic mobile robots
作者:
李苗12 刘忠信12 陈增强12
1. 南开大学津南校区 计算机与控制工程学院, 天津 300353;
2. 天津市智能机器人技术重点实验室, 天津 300353
Author(s):
LI Miao12 LIU Zhongxin12 CHEN Zengqiang12
1. College of Computer and Control Engineer, Jinnan Campus, Nankai University, Tianjin 300353, China;
2. Tianjin Key Laboratory of Intelligent Robotics, Tianjin 300353, China
关键词:
非完整移动机器人编队控制一致性分布式控制
Keywords:
nonholonomic mobile robotsformation controlconsensusdistributed control
分类号:
TP18
DOI:
10.11992/tis.201512021
摘要:
本文研究了多非完整移动机器人编队控制算法。在该算法中,参考轨迹被视为虚拟领导者,只有部分机器人可以接收到领导者信息,机器人之间只能进行局部信息交互。利用坐标变换将机器人系统的编队问题转化为变换后系统的一致性问题,在持续激励的条件下,设计了一种分布式控制算法,通过图论与Lyapunov 理论证明了该分布式控制算法可以使移动机器人队伍指数收敛于期望队形,并使队形的几何中心指数收敛到参考轨迹。最后,数值仿真验证了该控制算法的有效性。
Abstract:
This paper addresses the algorithm of formation control for multiple nonholonomic mobile robots. The reference trajectory was represented by a virtual leader whose states were available to a subset of the following mobile robots and the robots only interacted with each other locally. Coordinate transformation was proposed to convert the formation control problem for multiple nonholonomic mobile robots into a state consensus problem. Under the restriction of persistent excitation on reference trajectories, distributed control laws were proposed for achieving the formation control objectives. Using the Lyapunov function and graph theory, rigorous proofs show that the group of mobile robots can exponentially converge to a desired geometric formation pattern and its centroid can move along the reference trajectory. The validity of the proposed control method is verified by numerical simulation.

参考文献/References:

[1] BALCH T, ARKIN R C. Behavior-based formation control for multirobot teams[J]. IEEE transactions on robotics and automation, 1998, 14(6): 926-939.
[2] SHAO J, XIE G M, WANG L. Leader-following formation control of multiple mobile vehicles[J]. IET control theory & applications, 2007, 1(2): 545-552.
[3] DESAI J P, OSTROWSKI J P, KUMAR V. Modeling and control of formations of nonholonomic mobile robots[J]. IEEE transactions on robotics and automation, 2001, 17(6): 905-908.
[4] TAN K H, LEWIS M A. Virtual structures for high-precision cooperative mobile robotic control[C]//Proceedings of the 1996 IEEE/RSJ International Conference Intelligent Robots and Systems’96. Osaka, Japan, 1996: 132-139.
[5] KHATIB O. Real-time obstacle avoidance for manipulators and mobile robots[J]. International journal of robotics research, 1986, 5(1): 90-98.
[6] ZHAI G, TAKEDA J, IMAE J, et al. Towards consensus in networked non-holonomic systems[J]. IET control theory & applications, 2010, 4(10): 2212-2218.
[7] YUAN Z P, WANG Z P, CHEN Q J. Trajectory tracking control of a nonholonomic mobile robot[C]//Proceedings of the 8th IEEE International Conference on Control and Automation. Xiamen, China, 2010: 2207-2211.
[8] 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(3): 248-253. YUAN Jian, TANG Gongyou. Formation control of autonomous underwater vehicles with consensus algorithms and virtual structure[J]. CAAI transactions on intelligent systems, 2011, 6(3): 248-253.
[9] CHEN Lei, MA Baoli. A nonlinear formation control of wheeled mobile robots with virtual structure approach[C]//Proceedings of the 34th Chinese Control Conference. Hangzhou, China, 2015: 1080-1085.
[10] 王中林, 刘忠信, 陈增强, 等. 一种多智能体领航跟随编队新型控制器的设计[J]. 智能系统学报, 2014, 9(3): 298-306. WANG Zhonglin, LIU Zhongxin, CHEN Zengqiang, et al. A kind of new type controller for multi-agent leader-follower formation[J]. CAAI transactions on intelligent systems, 2014, 9(3): 298-306.
[11] DONG Wenjie, FARRELL J A. Decentralized cooperative control of multiple nonholonomic dynamic systems with uncertainty[J]. Automatica, 2009, 45(3): 706-710.
[12] CAO Kecai, YANG Hao, JIANG Bin. Formation tracking control of nonholonomic chained form systems[C]//Proceedings of the 10th IEEE International Conference on Control and Automation (ICCA). Hangzhou, China, 2013: 846-851.
[13] CAO Kecai, JIANG Bin, CHEN Yangquan. Cooperative control design for non-holonomic chained-form systems[J]. International journal of systems science, 2015, 46(9): 1525-1539.
[14] PENG Zhaoxia, WEN Guoguang, Rahmani A, et al. Distributed consensus-based formation control for multiple nonholonomic mobile robots with a specified reference trajectory[J]. International journal of systems science, 2015, 46(8): 1447-1457.
[15] 方勇纯, 卢桂章. 非线性系统理论[M]. 北京: 清华大学出版社, 2009: 1-151.
[16] HONG Yiguang, HU Jiangping, GAO Linxin. Tracking control for multi-agent consensus with an active leader and variable topology[J]. Automatica, 2006, 42(7): 1177-1182.

相似文献/References:

[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.
 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(01):21.
[2]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(01):248.
[3]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(01):135.
[4]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(01):536.
[5]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(01):533.[doi:10.3969/j.issn.1673-4785.201407014]
[6]王中林,刘忠信,陈增强,等.一种多智能体领航跟随编队新型控制器的设计[J].智能系统学报,2014,9(03):298.[doi:10.3969/j.issn.1673-4785.]
 WANG Zhonglin,LIU Zhongxin,CHEN Zengqiang,et al.A kind of new type controller for multi-agent leader-follower formation[J].CAAI Transactions on Intelligent Systems,2014,9(01):298.[doi:10.3969/j.issn.1673-4785.]
[7]钱殿伟.基于模糊滑模的多机器人系统编队控制[J].智能系统学报,2016,11(5):641.[doi:10.11992/tis.201510017]
 QIAN Dianwei.Formation control of multi-robot systems in a fuzzy sliding mode[J].CAAI Transactions on Intelligent Systems,2016,11(01):641.[doi:10.11992/tis.201510017]
[8]罗京,刘成林,刘飞.多移动机器人的领航-跟随编队避障控制[J].智能系统学报,2017,12(02):202.[doi:10.11992/tis.201507029]
 LUO Jing,LIU Chenglin,LIU Fei.Piloting-following formation and obstacle avoidance control of multiple mobile robots[J].CAAI Transactions on Intelligent Systems,2017,12(01):202.[doi:10.11992/tis.201507029]
[9]徐鹏,谢广明,文家燕,等.事件驱动的强化学习多智能体编队控制[J].智能系统学报,2019,14(01):93.[doi:10.11992/tis.201807010]
 XU Peng,XIE Guangming,WEN Jiayan,et al.Event-triggered reinforcement learning formation control for multi-agent[J].CAAI Transactions on Intelligent Systems,2019,14(01):93.[doi:10.11992/tis.201807010]

备注/Memo

备注/Memo:
收稿日期:2015-12-12;改回日期:。
基金项目:国家自然科学基金项目(61573200,61273138);天津市自然科学基金项目(13JCYBJC17400,14JCYBJC18700,14JCZDJC39300).
作者简介:李苗,女,1991年生,硕士研究生,主要研究方向为多智能体系统控制、人工智能系统与控制;刘忠信,男,1975年生,教授,博士生导师,中国人工智能学会智能空天系统专业委员会委员、中国智能物联系统建模与仿真专业委员会委员,主要研究方向为多智能体系统、复杂动态网络、计算机控制与管理;陈增强,男,1964年生,教授,博士生导师,主要研究方向为智能预测控制、混沌系统与复杂动态网络、多智能体系统控制。
通讯作者:刘忠信.E-mail:lzhx@nankai.edu.cn.
更新日期/Last Update: 1900-01-01