一种基于人工力矩的动态队形控制方法-控制理论与应用.PDFVIP

26 11 Vol. 26 No. 11 2009 11 Control Theory Applications Nov. 2009 :2009 , (1. , 114051; 2. , 150001) : , –, . , , , , . , . , , . . : ; ; ; : TP24 : A A dynamical formation control approach based on artificial moments XU Wang-bao , CHEN Xue-bo (1. School of Electronics and Information Engineering, Liaoning University of Science and Technology, Anshan Liaoning 114051, China; 2. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin Heilongjiang 150001, China) Abstract: First, the optimal correspondence of distance is defined for robots’ corresponding vertexes. For its determi- nation, we give an elimination method, including the model, the principle and the steps of operation. Next, two new types of artificial moments are defined, based on which the robots’ motion controllers are designed to make robots avoid various obstacles and keep in a desired formation. Thus, a general approach for dynamical formation control is developed which not only makes robots dynamically realize the desired formations, but also minimizes the time for the process of formation by optimizing robots’ corresponding vertexes. Simulation results demonstrate the feasibility and effectiveness of the proposed method. Key words: formation control; artificial moment; multi-robot systems; obstacle avoidance 1 (Introduction) ) , . , , , ; ( , , , ; , , ) , . . , () , , [9][10]leader- , . follower , , , leader, , , ,