[1]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(2):202-212.[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(2):202-212.[doi:10.11992/tis.201507029]
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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(2):202-212.[doi:10.11992/tis.201507029]
多移动机器人的领航-跟随编队避障控制
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
12
期数:
2017年第2期
页码:
202-212
栏目:
学术论文—智能系统
出版日期:
2017-05-05
- Title:
- Piloting-following formation and obstacle avoidance control of multiple mobile robots
- Keywords:
- multiple mobile robots; piloting-following coordination control; formation control; obstacle avoidance
- 分类号:
- TP273
- 摘要:
- 针对多移动机器人的编队控制问题，提出了一种结合Polar Histogram避障法的领航-跟随协调编队控制算法。该算法在领航-跟随l-φ编队控制结构的基础上引入虚拟跟随机器人，将编队控制转化为跟随机器人对虚拟跟随机器人的轨迹跟踪控制。结合移动机器人自身传感器技术，在简单甚至复杂的环境下为机器人提供相应的路径运动策略，实现实时导航的目的。以两轮差动Qbot移动机器人为研究对象，搭建半实物仿真平台，进行仿真实验。仿真结果表明：该方法可以有效地实现多移动机器人协调编队和避障控制。
- Abstract:
- In this paper, we propose a piloting-follower coordination formation control algorithm accompanied with a polar histogram obstacle avoidance method; we suggest here that this combined approach addresses the formation control defects that occur when multiple mobile robots must work in unison. Based on the piloting-following formation control structure, we introduce a virtual following robot, thus converting formation control into trajectory tracking control conducted by the robots that follow the virtual following robot. Using the sensing technology of the mobile robot itself, we achieved real-time navigation of corresponding paths in both simple and complicated environments. By using the two-wheel differential Qbot mobile robot as our research object, we constructed a semi-physical simulation platform for our simulation experiments. Simulation results showed that our method was able to effectively achieve coordination formation and obstacle avoidance control of multiple robots.
- 参考文献/References:
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备注/Memo
收稿日期:2015-7-22;改回日期:。
基金项目:国家自然科学基金项目（61473138，61104092，61134007）；江苏省自然科学基金项目（BK20151130）．
作者简介:罗京,男,1989年生,硕士研究生,主要研究方向为多自主体系统的编队控制研究;刘成林,男,1981年,副教授,硕士生导师,主要研究方向为多自主体系统协调控制,主持国家自然科学基金面上项目和江苏省自然科学基金面上项目各1项,发表学术论文多篇,其中被SCI检索20余篇;刘飞,男,1965年,教授,博士生导师,主要研究领域为先进控制理论与应用,过程监控,主持国家“863”、国家自然科学基金等省部以上课题12项,企业技术开发20余项,完成省部鉴定科技成果8项,获省部及行业协会科技奖5项,申请/获得专利及软件著作权8项,被SCI/EI检索论文100余篇。
通讯作者:刘成林. E-mail:liucl@jiangnan.edu.cn.
更新日期/Last Update:
1900-01-01