| 引用本文: | 张瑞雷,李胜,陈庆伟,杨春.复杂地形环境下多机器人编队控制方法[J].控制理论与应用,2014,31(4):531~537.[点击复制] |
| ZHANG Rui-lei,LI Sheng,CHEN Qing-wei,YANG Chun.Formation control for multi-robot system in complex terrain[J].Control Theory and Technology,2014,31(4):531~537.[点击复制] |
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| 复杂地形环境下多机器人编队控制方法 |
| Formation control for multi-robot system in complex terrain |
| 摘要点击 4302 全文点击 2602 投稿时间：2013-09-03 修订日期：2013-11-22 |
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| DOI编号 10.7641/CTA.2014.30924 |
| 2014,31(4):531-537 |
| 中文关键词 复杂地形 多机器人系统 编队控制 非完整移动机器人 |
| 英文关键词 complex terrain multi-robot system formation control nonholonomic mobile robot |
| 基金项目 国家自然科学基金资助项目(61074023, 51175266); 江苏省高校自然科学基金资助项目(12KJB510008); 江苏省普通高校研究生科研创 新计划资助项目(CXZZ13-0207). |
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| 中文摘要 |
| 针对复杂地形地面崎岖起伏的特点, 提出了一种多机器人系统编队控制方法. 首先, 分析了复杂地形环境下的系统队形模型. 通过建立三维地形环境下编队系统的误差模型, 并运用空间投影法将其映射到二维平面上, 对系统的编队误差进行分析. 然后利用李雅普诺夫函数构造控制器, 并根据环境中的特定地形设计相应的编队行驶策略, 实现了多机器人系统在复杂地形环境下的编队控制. 最后, 通过3种典型复杂地形环境下两种非完整移动机器人的编队仿真, 验证了该方法的有效性. |
| 英文摘要 |
| We study the problem of formation control for multi-robot system in a rugged and undulating terrain environment. First, the formation model of the multi-robot system in complex terrain environment is analyzed in detail. Second, the three-dimensional formation model of this system is simplified to a two-dimensional coordinate system via space projection method; and then, the formation system error is analyzed. The controller is constructed by using Lyapunov theory, and the driving strategies are designed for the specific terrains. In this way, the multi-robot formation control in complex terrain environment is realized. Finally, simulation experiments of three kinds of typical complex terrain conditions and two kinds of nonholonomic mobile robots are given to demonstrate the effectiveness of the proposed method. |
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