[1]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].智能系统学报编辑部,2015,10(4):533-540.[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(4):533-540.[doi:10.3969/j.issn.1673-4785.201407014]
点击复制
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(4):533-540.[doi:10.3969/j.issn.1673-4785.201407014]
一种基于模糊方法的领导-跟随型多机器人编队控制
《智能系统学报》编辑部[ISSN 1673-4785/CN 23-1538/TP] 卷:
10
期数:
2015年第4期
页码:
533-540
栏目:
学术论文—智能系统
出版日期:
2015-08-25
- Title:
- Formation control of leader-following type multi-robotbased on fuzzy control method
- Keywords:
- fuzzy control; path following; mobile robot; kinematic model; leader; follower; SBC control; formation control
- 分类号:
- TP18
- 文献标志码:
- A
- 摘要:
- 该文采用领导-跟随方式实现多机器人的编队控制.针对移动机器人模型复杂性及不确定性等因素,采用不依赖系统模型的模糊控制方法,对领导者进行路径跟踪控制.通过模糊控制器的输出实时调整线速度和角速度,使领导者能够达到并沿着给定的路径运动.同时通过设计合适的控制律使每个跟随者与领导者的相对距离和角度收敛到给定值,从而达到编队控制效果.通过数值仿真及实际的场地实验表明,该算法可有效实现多移动机器人路径跟踪及编队运动的控制。
- Abstract:
- The leader-following method is adopted in this paper to achieve formation control of multi-robot. In order to overcome the complexity and uncertainty of mobile robot model, fuzzy control which is independent of system model is chosen as the path tracking strategy for the leader robot. The velocity and angular velocity of the leader are adjusted in real time by the output of fuzzy controller, guaranteeing that the leader can reach and move along the desired path. At the same time, the appropriate control law is designed to make the relative distance and angle between the leader and each follower converge to the given value, so as to achieve the desired formation control. Numerical simulations and actual field experiments are provided in this paper, showing the effectiveness of the control strategy in path tracking and the formation control of multiple mobile robots.
- 参考文献/References:
-
[1] WANG F, GAO L X, WANG L Y. Tracking Control for Multi-agent Consensus for Discrete-time Case[C]//2011 Chinese Control and Decision Conference. Mianyang, China: IEEE, 2011: 923-928.
[2] JADBABAIE A, LIN J, MORSE A S. Coordination of groups of mobile autonomous agents using nearest neighbor rules[J]. IEEE Transactions on Automatic Control, 2003, 48(6): 988-1001.
[3] 苗国英, 马倩.多智能体系统的协调控制研究综述[J].南京信息工程大学学报: 自然科学版, 2013, 5(5): 385-369. MIAO Guoying, MA Qian.A survey of developments on coordinated control of multi-agent systems[J].Journal of Nanjing University of Information Science and Technology: Natural Science Edition, 2013, 5(5): 385-369.
[4] PENG Z X, WEN GG, RAHMANI A. Leader-follower formation control of multiple nonholonomic robots based on backstepping[C]//Proceedings of the 28th Annual ACM Symposium on Applied Computing. New York, NY, USA: SAC, 2013: 211-216.
[5] HONG Y G, HU J P, GAO L X. Tracking control for multi-agent consensus with an active leader and variable topology[J]. Automatica, 2006, 42(7): 1177-1182.
[6] HERNANDEZ-MENDOZA DE, PE? ALOZA-MENDOZA G R, ARANDA-BRICAIRE E. Discrete-Time Formation and Marching Control of Multi-Agent Robots Systems[C]//2011 8th International Conference on Electrical Engineering Computing Science and Automatic Control (CCE). Merida City: IEEE, 2011: 1-6.
[7] ARAI T, PAGELLO E, PARKER L E. Guest editorial advances in multirobotsystems[J]. IEEE Transactions on Robotics and Automation, 2002, 18(5): 655-661.
[8] 刘曙光, 魏俊民, 竺志超. 模糊控制技术[M]. 北京: 中国纺织出版社, 2001: 1-8. LIU Shuguang, WEI Junmin, ZHU Zhichao. Fuzzy control technology[M]. Beijing: China Textile Press, 2001: 1-8.
[9] 孙德丰. MATLAB模糊系统设计[M].北京: 国防工业出版社, 2009.SUN DefengThe design of Fuzzy Systems[M]. Beijing: National Defence Industry Press, 2009.
[10] HSU Y -C, CHEN G R, LI H X. A Fuzzy adaptive variable structure controller with application to robot manipulators[J]. IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics, 2001, 31(3): 331-340.
[11] 骆德渊, 刘荣, 李纪文. 采用模糊逻辑的移动机器人轨迹跟踪[J].电子科技大学学报, 2008, 37(6): 943-947. LUO Deyuan, LIU Rong, LI Jiwen. Path tracking of mobile robots using fuzzy logic[J].Journal of University of Electronic Science and Technology of China,2008, 37(6): 943-947.
[12] 陈杨杨, 田玉平.多智能体沿多条给定路径编队运动的有向协同控制[J].自动化学报, 2009, 35(12): 1541-1549.CHEN Yangyang, TIAN Yuping. Directed coordinated control for multi-agent formation motion on a set of given curves[J]. ActaAutomaticaSinica, 2009, 37(12): 1541-1549.
[13] 徐国焯.多UUV编队路径跟踪控制研究[D].哈尔滨:哈尔滨工程大学, 2012:12-54. XUGuozhuo. Research on path following control for Multi-UUV formation [D]. Harbin: Harbin Engineering University, 2012: 12-54.
[14] FIERRO R, SONG P, DAS Aet al. Cooperative Control of Robot Formations[M]. Philadelphia, US: Springer, 2002, 66: 73-93.
[15] CROWLEY J L. Asynchronous control of orientation and displacement in a robot vehicle [C]//Proceeding of 1989 IEEE International Conference on Robotics and Automation. Scottsdale, AZ: IEEE, 1989: 1277-1282.
[16] 吴瑾斐, 秦东兴, 刘俊.四轮式移动机器人非完整运动控制[J]. 电子科技大学学报, 2007, 36(2): 301-304. WU Jinfei, QIN Dongxing, LIU Jun. Nonholonomic motion control of four-wheeled mobile robot[J]. Journal of University of Electronic Science and Technology of China, 2007, 36(2): 301-304.
[17] 汪超, 唐勇奇. 基于独立C代码的模糊控制器应用程序设计[J].计算机技术与发展, 2009, 19(5): 242-244. WANG Chao, TANG Yongqi. Programmer of fuzzy controller based on stand-alone C-Code[J]. Computer Technology and Development, 2009, 19(5): 242-244.
- 相似文献/References:
-
[1]彭秀艳,李一丹,吕淑萍,等.仿人机器人稳定步行控制研究[J].智能系统学报编辑部,2008,3(6):536.
PENG Xiu-yan,LI Yi-dan,LV Shu-ping,et al.Research on the control of stable gaits in humanoid robots[J].CAAI Transactions on Intelligent Systems,2008,3():536.
[2]彭秀艳,王志文,吴鑫.舰载机纵向自动着舰控制[J].智能系统学报编辑部,2011,6(2):172.
PENG Xiuyan,WAGNG Zhiwen,WU Xin.Research on a carrierbased automatic longitudinal aircraft landing control system[J].CAAI Transactions on Intelligent Systems,2011,6():172.
[3]李永新,陈增强,孙青林.基于模糊控制与预测控制切换的翼伞系统航迹跟踪控制[J].智能系统学报编辑部,2012,7(6):481.
LI Yongxin,CHEN Zengqiang,SUN Qinglin.Flight path tracking of a parafoil system based on the switching between fuzzy control and predictive control[J].CAAI Transactions on Intelligent Systems,2012,7():481.
[4]李大伟,贾鹏飞,李卫国,等.一种基于卡尔曼滤波与模糊算法的变电站机器人组合导航及控制系统设计[J].智能系统学报编辑部,2013,8(3):226.
LI Dawei,JIA Pengfei,LI Weiguo,et al.A kind of integrated navigation and control system design for substation robot based on the Kalman filtering and fuzzy algorithm[J].CAAI Transactions on Intelligent Systems,2013,8():226.
[5]李鹏,王胜勇,卢家斌,等.PI参数混合整定法在闭环矢量控制系统中的应用[J].智能系统学报编辑部,2013,8(5):446.[doi:10.3969/j.issn.1673-4785.201209043]
LI Peng,WANG Shengyong,LU Jiabin,et al.The application of hybrid PI parameters tunning method to the closed-loop vector control system[J].CAAI Transactions on Intelligent Systems,2013,8():446.[doi:10.3969/j.issn.1673-4785.201209043]
[6]黄心汉.A3I:21世纪科技之光[J].智能系统学报编辑部,2016,11(6):835.[doi:10.11992/tis.201605022]
HUANG Xinhan.A3I: the star of science and technology for the 21st century[J].CAAI Transactions on Intelligent Systems,2016,11():835.[doi:10.11992/tis.201605022]
[7]杨迪,郭晨,朱玉华,等.欠驱动船舶神经网络自适应路径跟踪控制[J].智能系统学报编辑部,2018,13(2):254.[doi:10.11992/tis.201611011]
YANG Di,GUO Chen,ZHU Yuhua,et al.Neural network adaptive path tracking control for underactuated ships[J].CAAI Transactions on Intelligent Systems,2018,13():254.[doi:10.11992/tis.201611011]
[8]昝英飞,邱天,袁利毫,等.水下狭窄环境中ROV的自主返回控制[J].智能系统学报编辑部,2022,17(4):744.[doi:10.11992/tis.202105032]
ZAN Yingfei,QIU Tian,YUAN Lihao,et al.Autonomous remotely operated vehicle return control in a narrow underwater environment[J].CAAI Transactions on Intelligent Systems,2022,17():744.[doi:10.11992/tis.202105032]
备注/Memo
收稿日期:2014-07-09;改回日期:。
基金项目:国家自然科学基金资助项目(61174094,61273138);天津市自然科学基金资助项目(13JCYBJC17400,14JCYBJC18700,14JCZDJC39300).
作者简介:吴垠,男,1989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,中国系统仿真学会理事、中国自动化学会控制理论与应用专业委员会委员、中国自动化学会过程控制专业委员会委员、中国优选法统筹法与经济数学研究会复杂系统专业委员会理事、天津市自动化学会理事、天津市图形图像学会理事,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。曾担任国家863计划项目、国家自然科学基金项目及省部级科研项目10余项。发表学术论文100余篇,被SCI和EI收录100多篇次。
通讯作者:刘忠信.Email:lzhx@nankai.edu.cn.
更新日期/Last Update:
2015-08-28