引用本文:罗家祥,关振峰,刘海明,蔡鹤,高焕丽,黄杰.通讯受限条件下的机器人编队算法[J].控制理论与应用,2021,38(7):1091~1101.[点击复制]
LUO Jia-xiang,GUAN Zhen-feng,LIU Hai-ming,CAI He,GAO Huan-li,HUANG Jie.Robot formation algorithm with limited communication[J].Control Theory and Technology,2021,38(7):1091~1101.[点击复制]
通讯受限条件下的机器人编队算法
Robot formation algorithm with limited communication
摘要点击 2749  全文点击 797  投稿时间：2020-10-15  修订日期：2021-07-10
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DOI编号  10.7641/CTA.2021.00716
  2021,38(7):1091-1101
中文关键词  移动机器人  编队控制  有限通讯  分布式控制  避障
英文关键词  mobile robots  formation control  limited communication  distributed control  avoiding obstacles
基金项目  广东省科技厅基金项目(2020A1515011508, 2017A040405025), 中央高校基本科研业务费专项资金项目(2019MS140)资助.
作者单位邮编
罗家祥 华南理工大学 510640
关振峰 华南理工大学 
刘海明* 华南理工大学 510640
蔡鹤 华南理工大学 
高焕丽 华南理工大学 
黄杰 华南理工大学 
中文摘要
      针对通讯受限条件下大规模移动机器人编队任务, 本文提出了基于行为的分布式多机器人线形编队控制 和避障算法. 机器人个体无需获得群体中所有机器人的信息, 而是根据传感器获取的环境信息和局部范围内的机器 人信息对其自身的调整方向进行预测, 并最终很好地完成了设定的编队及避障任务. 由于本文方法需求的通讯量不 大, 并且采用分布式控制, 因此该方法适用于大规模的机器人集群编队任务. 文中还给出了本系统的稳定性分析, 证 明了系统的稳定性. 实验结果表明该算法使得机器人能够仅通过局部信息形成线形编队, 在遇到障碍物后能够灵活 避开障碍物, 并且在避开障碍物进入安全区域后重新恢复线形编队.
英文摘要
      Aiming at the problem of large-scale mobile robot formation task with communication constraints, this paper proposes a behavior-based distributed multirobot linear formation control and obstacle avoidance algorithm. The individual robot does not need to obtain the information of all the robots in the group, but predicts its own adjustment direction according to the environmental information obtained by the sensor and the robot information in the local range, and finally completes the set formation and obstacle avoidance tasks well. Because the communication requirement of this method is small and distributed control is adopted, this method is suitable for large-scale robot formation task. The stability analysis of the system is given and the stability of the system is proved. The experimental results show that the algorithm can make the robot form linear formation only by local information, and can avoid colliding with obstacles flexibly, and resume the linear formation after entering the safe area.