[1]张方方,张文丽,王婷婷.基于速度补偿算法的多机器人编队控制研究[J].郑州大学学报(工学版),2022,43(02):1-6.[doi:10.13705/j.issn.1671-6833.2022.02.004]
 Zhang Fangfang,Zhang Wenli,Wang Tingting,et al.Multi-robot System Obstacle Avoidance Method[J].Journal of Zhengzhou University (Engineering Science),2022,43(02):1-6.[doi:10.13705/j.issn.1671-6833.2022.02.004]
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基于速度补偿算法的多机器人编队控制研究()
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《郑州大学学报(工学版)》[ISSN:1671-6833/CN:41-1339/T]

卷:
43卷
期数:
2022年02期
页码:
1-6
栏目:
出版日期:
2022-02-27

文章信息/Info

Title:
Multi-robot System Obstacle Avoidance Method
作者:
张方方张文丽王婷婷
郑州大学电气工程学院;

Author(s):
Zhang Fangfang; Zhang Wenli; Wang Tingting;
School of Electrical Engineering, Zhengzhou University;

关键词:
Keywords:
DOI:
10.13705/j.issn.1671-6833.2022.02.004
文献标志码:
A
摘要:
为了解决传统领航-跟随法在编队控制中实现较难和算法复杂以及整体编队太依赖领航者的问题,本文在传统领航-跟随算法的基础上,考虑到圆形编队不同于直线编队,传统控制律可能无法完成圆形编队,本文采用“以直代曲”的思想对原控制律进行改进,设计跟随控制器,使得跟随者无论在直线编队中还是在圆形编队中都能够很好地跟随领航者。并提出基于位置信息的速度补偿算法,利用系统内机器人的位置信息设计控制器,减少调用参数的数量,提高编队效率。对于环境中可能存在的障碍物问题,本文将速度补偿算法与传统人工势场法相结合,设计了多机器人编队避障控制方法,保证多机器人系统在行进过程中维持编队运行的同时不仅能够避免机器人之间相互碰撞,也能够自适应避开周围环境中的障碍物。本文所提方法在多机器人仿真和实物平台上进行验证,结果表明多机器人不仅能够高效率地完成编队任务而且在遇到障碍物时能够成功完成避障任务,这也证明了所提方法的有效性和优越性。
Abstract:
In order to solve the problem that the traditional leader-follower method is difficult to implement and the algorithm is complicated in the formation control, and the overall formation is too dependent on the leader, this paper takes into account that the circular formation is different from the straight-line formation on the basis of the traditional leader-follower algorithm. The law may not be able to complete the circular formation. This article adopts the idea of “replace music with straight lines” to improve the original control law and design a follower controller So that the follower can follow the leader well whether in a straight formation or a circular formation. And put forward a speed compensation algorithm ba<x>sed on position information, use the position information of the robot in the system to design the controller, reduce the number of calling parameters, and improve the efficiency of formation. For the obstacles that may exist in the environment, this paper combines the speed compensation algorithm with the traditional artificial potential field method to design a multi-robot formation obstacle avoidance control method to ensure that the multi-robot system can not only avoid the robots while maintaining the formation during the marching process. When they collide with each other, they can also adaptively avoid obstacles in the surrounding environment. The method proposed in this paper is verified on a multi-robot simulation and physical platform. The results show that multi-robots can not only efficiently complete formation tasks but also successfully complete obstacle avoidance tasks when encountering obstacles. This also proves the effectiveness of the proposed method.
更新日期/Last Update: 2022-02-25