| 引用本文: | 谭瑶,梅杰.利用方位角信息的移动机器人编队控制[J].控制理论与应用,2021,38(7):1043~1050.[点击复制] |
| TAN Yao,MEI Jie.Formation Control of Mobile Robots Using Bearing-only Measurements[J].Control Theory and Technology,2021,38(7):1043~1050.[点击复制] |
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| 利用方位角信息的移动机器人编队控制 |
| Formation Control of Mobile Robots Using Bearing-only Measurements |
| 摘要点击 2820 全文点击 986 投稿时间：2020-10-15 修订日期：2021-05-25 |
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| DOI编号 10.7641/CTA.2021.00718 |
| 2021,38(7):1043-1050 |
| 中文关键词 方位角信息 编队控制 多智能体系统 移动机器人 |
| 英文关键词 Bearing-only information, Formation control, Multi-agent Systems, Mobile Robots |
| 基金项目 国家重点研发计划项目(2019YFA0706500), 国家自然科学基金项目(62073098, U1913209, U1813220), 深圳市基础研究项目(JCYJ20180306171 828190, JCYJ20200109113210134)资助. |
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| 中文摘要 |
| 本文以移动机器人为研究对象, 仅利用方位角信息实现多智能体系统的编队控制. 为实现大规模编队和队
形的缩放控制, 智能体被分为领航者、第1跟随者以及其余跟随者. 首先, 考虑智能体之间相对位置信息难以精确测
量的情形, 设计仅用方位角信息的估计算法获得准确的相对位置; 然后, 基于获得的相对位置信息设计第1跟随者的
控制算法, 使得第一跟随者与领航者之间的位置收敛到理想约束位置以控制整个队形的规模; 接着, 设计其余跟随
者的控制算法使得各智能体之间的方位角达到理想约束角度, 从而形成理想编队队形. 最后通过数值和ROS仿真实
验验证算法的有效性. |
| 英文摘要 |
| In this paper, the formation control of mobile robots is studied by using the bearing-only measurements. In
order to achieve large-scale formation and control its scaling, the agents are divided into the leader, the first follower and
the other followers. First of all, motivated by the fact that the relative position information between agents is difficult
to be accurately measured, an estimation algorithm is designed for each agent to obtain the accurate relative position.
Then, based on the relative position information obtained previously, the control law of the first follower is designed to
make the relative position between the first follower and the leader converge to the desired one, which can control the
scale of the entire formation. We then proposed a distributed control law for the other followers to achieve the desired
formation. Finally, the effectiveness of the algorithm is verified by numerical simulation and experiment in ROS. |
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