-
摘要: 研究了非完整移动机器人群的避障编队问题. 在次优化控制基础上, 通过对每个交互机器人求解指标函数存在耦合的优化问题提出了两种算法. 在终端惩罚项中加入了势场函数并且构造出相应的终端约束集. 关于系统稳定性及安全性进行了讨论. 仿真实例说明了所提算法的可行性.Abstract: This paper considers the problem of formation control and obstacle avoidance for a group of nonholonomic mobile robots. On the basis of suboptimal model predictive control, two control algorithms are proposed. Both algorithms are formulated such that they solve as solving the optimal control problems in which the cost functions are coupled with the dynamics of each interacting robot. A potential function is used to define the terminal state penalty term, and a corresponding terminal state region is added to the optimization constraints. Moreover, the main issues inclusive of stability and safety are also discussed. Simulation results show the feasibility of the proposed control strategies.
-
计量
- 文章访问数: 3417
- HTML全文浏览量: 133
- PDF下载量: 1987
- 被引次数: 0
下载:
