摘要
针对具有领航者和跟随者的多智能体时变编队问题,在考虑具体模型的基础上分别对领航者和跟随者的控制算法展开研究。首先对跟随者提出参考位姿时变情况下的一致性算法,给出了稳定性证明;然后针对具有非完整性约束的轮式机器人模型设计领航者的轨迹跟踪算法,使领航车辆以期望的速度、角速度行驶在规定的轨迹上;同时考虑了环境障碍物和编队车辆之间的碰撞问题,设计了人工势能场避障算法。最后综合以上算法,以"行星-卫星"式时变编队为例,成功地让领航者走固定轨迹、跟随者始终保持在领航者坐标系下某一轨迹上,并且通过仿真验证了该时变编队算法可行性,所提算法为后续更复杂的时变编队研究提供了思路。
With regard to time-varying formation control problem for leader and followers,a leader-following consensus control law with collision avoidance for followers and a trajectory tracking algorithm for leader are investigated for nonholonomic mobile robots. First,by using the trajectory tracking algorithm,the leader of formation can be guaranteed on the desired position,attitude,velocity and angular velocity. Second,based on the traditional consensus algorithm,we propose a new consensus protocol with collision avoidance using artificial potential field. Finally,a'Planet-Satellite'formation is achieved. In the formation,the leader moves in the trajectory expected in the mission,while the followers convoy the leader with a certain formation,which can be time-varying or time-invariant. The performance of the algorithms is demonstrated by simulation. The proposed algorithm can be expanded to more complex time-varying formation research.
出处
《无人系统技术》
2018年第3期21-28,共8页
Unmanned Systems Technology
基金
中国国家重点研究与发展项目(2018YFB1003700)
国家自然科学基金国际交流与合作项目(61720106010)
关键词
多智能体
一致性算法
轨迹跟踪
人工势能场
非完整性约束
Multi-Agent
Consensus Algorithm
Trajectory Tracking
Artificial Potential Field
Nonholonomic Constraints
