摘要
针对多移动机器人编队的避障与一致性控制问题,提出了一种模型预测控制与阻抗控制相结合的双闭环控制方案,内环保证编队的一致性,而遇到障碍物时外环阻抗控制将会对编队个体的参考位置进行调整,从而避免与障碍物发生冲突。同时,避障算法设计时考虑了障碍物与移动机器人的真实尺寸,通过引入辅助调整力保证在真实场景下能够规划出无碰撞且高效的路径。最后,针对编队动态避障问题,引入了动态避障因子。仿真结果表明,多移动机器人编队在该双回路控制算法下能够以较少的代价规避未知的动静态障碍物,并在此之后逐步收敛到期望队形。
A double closed-loop control strategy combining model predictive control and impedance control is proposed in this paper when it comes to solving the obstacle avoidance and consensus control of multi mobile robot formation.The main loop ensures the consistency of the formation.When encountering obstacles,impedance control,as an auxiliary control loop,will adjust the reference position of the formation individual,so as to avoid conflict with obstacles.Meanwhile,the obstacle avoidance algorithm is designed considering the real size of obstacles and mobile robots,and the collision-free and efficient paths can be planned in real scenarios by introducing auxiliary adjustment forces.Finally,the dynamic obstacle avoidance factor is introduced to solve the problem of dynamic obstacle avoidance.The simulation results show that the multi mobile robot formation can avoid unknown dynamic and static obstacles at less cost under the dual loop control algorithm,and then gradually converge to the desired formation.
出处
《工业控制计算机》
2022年第8期84-86,90,共4页
Industrial Control Computer
关键词
编队避障
模型预测控制
阻抗控制
动态避障因子
formation obstacle avoidance
model predictive control
impedance control
dynamic obstacle avoidance factor
