[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]
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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:
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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