[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(4):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(4):21-27.
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移动机器人编队控制的现状与问题

《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷: 2 期数: 2007年第4期 页码: 21-27 栏目: 综述 出版日期: 2007-08-25
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.
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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.?

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