摘要
针对多机器人协作系统中机器人编队控制问题,采用了一种基于运动学的领航-虚拟跟随法的编队方法,并在跟踪控制方面对算法进行了改进和修正。MATLAB软件仿真以及在HR-I型双轮差速移动机器人实验平台上的实验证明,改进算法能够达到更好的编队效果。
Recently, in many research questions based on multi-robot cooperation system, formation problem is a widespread and relatively typical kind. In order to analyze the current problems within formation control, a formation method called“Leader-Virtual follower Method” is adopted in this paper that based on kinematics, it also is improved in tracking control and correction, then it is proved that the improved algorithm can achieve better result of formation through the MATLAB simulation and the HR-I two-wheel with different velocity mobile robot experimental platform vali-dation.
出处
《中原工学院学报》
CAS
2015年第3期6-12,共7页
Journal of Zhongyuan University of Technology
基金
河南省重点科技攻关计划资助项目(142102210085
142102210524)
河南省教育厅自然科学研究计划资助项目(2011A460015)
