摘要:
在这篇论文中, 我们利用一个统一的算法框架来解决移动机器人的队形控制和主动避障问题, 使得编队中的从机器人在避开障碍物的同时, 能够与被跟踪的主机器人保持期望的相对距离或相对方位. 在现有的关于主—从跟踪编队控制的文献中, 为了实现对主机器人快速准确的跟踪, 从机器人在跟踪控制时需要主机器人在惯性坐标系下的绝对运动速度作为队形跟踪控制器的输入. 然而, 在一些环境中, 主机器人的绝对运动状态很难获得. 这里, 我们将利用主—从机器人之间的相对速度来建立机器人编队系统的运动学模型. 基于这个模型的编队控制方法将不再需要测量主机器人的绝对运动速度. 进一步地, 上述的建模和控制方法被扩展为一个移动机器人的动态避障方法, 该方法利用机器人与障碍物之间相对运动状态作为避障控制器的信息输入. 利用由三个非完整移动机器人组成的多机器人系统, 验证了所提出编队控制方法的有效性.
Abstract:
In this paper, the formation control and obstacle avoidance problems are dealt with a unified control algorithm, which allows the follower to avoid obstacle while maintaining desired relative bearing or relative distance from the leader. In the known leader-follower robot formation control literature, absolute motion states of the leader robot are required to control the followers, which may not be available in some environments. In this research, the leader-follower robot formation is modelled and controlled in terms of the relative motion states between the leader and follower robots. The absolute motion states of the leader robot are not required in the proposed formation controller. Furthermore, the research has been extended to a novel obstacle avoidance scheme based on sensing the relative motion between robot and obstacle. Experimental investigation has been conducted using the platform consisted of three nonholonomic mobile robots and computer vision system, and the results have demonstrated the effectiveness of the proposed methods.
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