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编队约束下移动机器人路径跟踪控制

发表时间:2012-11-30  浏览量:1398  下载量:586
全部作者: 王银涛
作者单位: 西北工业大学航海学院
摘 要: 研究存在编队约束情况下的机器人路径跟踪问题。将整个系统的控制分为两部分:一部分通过构造虚拟机器人并基于Lyapunov和反演技术设计路径跟踪控制器,保证虚拟机器人沿期望的跟踪路径运动;另一部分为编队保持控制器,保证每个机器人与虚拟的参考机器人保持一定的相对距离和角度,进而达到编队运动的目的。提出的控制方案仅需要机器人获取虚拟参考机器人的状态信息,通讯需求量小,满足实际工程需求。仿真实验结果验证了所提算法的有效性。
关 键 词: 控制理论与控制工程;机器人;编队;路径跟踪;虚拟参考点
Title: Path following control of mobile robots with formation constraints
Author: WANG Yintao
Organization: School of Marine Engineering, Northwestern Polytechnical University
Abstract: In this paper, we address the problem of designing control laws to force the outputs of mobile robots to follow geometric paths while holding a desired formation pattern. The solution is unfolded in two basic parts. Firstly, a virtual robot is constructed and a path following control law is designed out. This law is based on Lyapunov and backstepping which can drive the virtual robot to the desired path regardless of the temporal speed profile. Another part of the solution is formation maintaining control, which promises the formation be achieved by keeping each robot with a certain relative distance and angle to the virtual reference robot. The evident advantages of the proposed scheme are that only the virtual reference robot’s states needed for each robot, so the communication amount is small. Simulation results illustrate the effectiveness of the proposed method.
Key words: control theory and control engineering; mobile robot; formation; path following; virtual reference point
发表期数: 2012年11月第22期
引用格式: 王银涛. 编队约束下移动机器人路径跟踪控制[J]. 中国科技论文在线精品论文,2012,5(22):2124-2129.
 
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