摘要
针对多机器人在未知环境下的编队控制问题,提出了一种基于双移动信标的多机器人编队算法.该方法在以两个移动信标机器人为领航机器人的基础之上,设计了基于超宽带测距技术的多机器人定位模型,通过控制从机器人的位姿状态,实现多机器人编队控制,并且设计了多传感器数据融合算法,有效提高多机器人编队的精度.该方法解决了多机器人在未知环境中的编队控制问题,提高了多机器人编队控制的精度.仿真结果表明了该方法的可行性和有效性.
In view of the multi-robot formation control problems existing in unknown environment,a multi-robot formation control algorithm based on dual-mobile beacon is proposed.In the new algorithm,two mobile beacon robots are designed as pilot robots and a positioning model is designed based on ultra-wide band ranging technology.Multi-robot formation control is obtained by controlling the pose state of the following robots,and a multi-sensor data fusion algorithm is designed to improve the formation control precision efficiently.This algorithm solves the problem of multi-robot formation control existing in unknown environment and improves the formation control precision.Simulation results show the feasibility and validity of the formation control algorithm.
出处
《信息与控制》
CSCD
北大核心
2011年第2期145-149,共5页
Information and Control
基金
国家973计划资助项目(2007CB714701)
