智能系统学报2017，Vol.12Issue(2)：202-212,11.DOI:10.11992/tis.201507029
多移动机器人的领航-跟随编队避障控制
Piloting-following formation and obstacle avoidance control of multiple mobile robots
摘要
Abstract
In this paper, we propose a piloting-follower coordination formation control algorithm accompanied with a polar histogram obstacle avoidance method;we suggest here that this combined approach addresses the formation control defects that occur when multiple mobile robots must work in unison.Based on the piloting-following formation control structure, we introduce a virtual following robot, thus converting formation control into trajectory tracking control conducted by the robots that follow the virtual following robot.Using the sensing technology of the mobile robot itself, we achieved real-time navigation of corresponding paths in both simple and complicated environments.By using the two-wheel differential Qbot mobile robot as our research object, we constructed a semi-physical simulation platform for our simulation experiments.Simulation results showed that our method was able to effectively achieve coordination formation and obstacle avoidance control of multiple robots.关键词
多移动机器人/领航-跟随/编队控制/避障Key words
multiple mobile robots/piloting-following coordination control/formation control/obstacle avoidance分类
信息技术与安全科学引用本文复制引用
罗京,刘成林,刘飞..多移动机器人的领航-跟随编队避障控制[J].智能系统学报,2017,12(2):202-212,11.基金项目
国家自然科学基金项目(61473138,61104092,61134007) （61473138,61104092,61134007）
江苏省自然科学基金项目(BK20151130). （BK20151130）
