摘要
为了解决多移动机器人的协同编队控制问题,提出了一种基于运动学模型的编队控制方法。该方法在领航-跟随编队控制结构的基础上引入虚拟机器人,在全局坐标系下建立跟随机器人与虚拟机器人的误差方程,将编队问题转化为跟随机器人对虚拟机器人的轨迹跟踪问题,在此基础上设计编队控制器,并证明了在该编队控制器作用下跟踪误差能够收敛到原点的小邻域内。仿真与实验结果表明:编队系统稳定运行,即当t→∞时,位姿误差(xe,ye,θe)将收敛到原点的邻域内,速度趋近一常值。
In order to solve the cooperative formation control problem of multiple mobile robots,based on kinematics model,a formation control method is proposed.Based on the structure of leader-follower formation control,a virtual robot is introduced.The error equation between the follower and the virtual robot is established in the global coordinate system,consequently,the formation problem is transformed into the trajectory tracking problem of the virtual robot with follower,and base on this,the formation controller is designed.It is proved that the tracking error can converge to the small neighborhood of the origin under the action of the formation controller.The results of simulation and experiment show that:the formation system is stable,posture error will converge to the neighborhood of the origin and velocity will approach a constant value.
作者
师五喜
王健
SHI Wu-xi;WANG Jian(School of Electrical Engineering and Automation,Tiangong University,Tianjin 300387,China)
出处
《天津工业大学学报》
CAS
北大核心
2020年第1期63-68,共6页
Journal of Tiangong University
基金
国家自然科学基金资助项目（61603271）
天津市自然科学基金资助项目（16JCQNJC03800）
