高技术通讯2026，Vol.36Issue(4)：387-396,10.DOI:10.3772/j.issn.1002-0470.2026.04.006
基于人工势场与领航跟随法的多机器人编队控制
Multi-robot formation control based on artificial potential field and leader-follower
摘要
Abstract
Aiming at the formation and obstacle avoidance problems of multi-mobile robots in unknown environments,a formation control algorithm combining the virtual structure leader-follower method and the artificial potential field is proposed.In order to realize the formation tracking control,introducing virtual followers to transform the formation control problem into a tracking control problem,a collision avoidance potential field function is constructed based on the artificial potential field and the positional relationship between neighboring robots,and the formation tracking controller is designed to plan the tracking path of each following robot.In order to control the robot formation away from obstacles and back into formation,based on the environmental constraints measured by the sensors,three dy-namic formation transformation modes,namely,formation maintenance,isomorphic transformation and heteromor-phic transformation,are designed.By calculating the formation transformation trigger factor and decision factor,the transformation mode that satisfies the constraints is selected.Finally,the effectiveness and practicability of the method are verified through Matlab simulation and physical experiments on three mobile robots.关键词
编队控制/队形变换/多移动机器人/领航跟随法/人工势场Key words
formation control/change of formation/multi-mobile robot/leader-follower/artificial potential field引用本文复制引用
徐建明,王磊,周佳旋,周路顺,张扬扬,金瑶..基于人工势场与领航跟随法的多机器人编队控制[J].高技术通讯,2026,36(4):387-396,10.基金项目
国家自然科学基金面上项目(61374103)资助. （61374103）
