多非完整轮式移动机器人群体控制的一致性协议与l-&phi方法性能比较

A. Alouache, Qing-he Wu
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引用次数: 1

摘要

研究了多个非完整差动驱动轮式移动机器人的编队控制问题。假设移动机器人之间的通信是可能的,其中leader移动机器人可以使用leader-follower概念将其状态值共享给follower移动机器人。讨论了控制非完整wmr形成的两种方法。第一种方法是基于图论概念的共识跟踪,利用一阶共识协议制定每个follower的线速度和角速度输入,使follower的航向角和速度与leader移动机器人的对应值同步。第二种是基于Lyapunov分析提出的l- φ方法(距离角),通过调整每个跟随移动机器人的线速度和角速度输入,使跟随机器人相对于领导机器人保持理想的分离距离和偏离角,使整个系统渐近稳定。本文的目的是通过matlab仿真比较所提出的轮式移动机器人编队控制方法的性能。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Performance comparison of consensus protocol and l-&phi approach for formation control of multiple nonholonomic wheeled mobile robots
This paper investigates formation control of multiple nonholonomic differential drive wheeled mobile robots (WMRs). Assume the communication between the mobile robots is possible where the leader mobile robot can share its state values to the follower mobile robots using the leader-follower notion. Two approaches are discussed for controlling a formation of nonholonomic WMRs. The first approach is consensus tracking based on graph theory concept, where the linear and angular velocity input of each follower are formulated using first order consensus protocol, such that the heading angle and velocity of the followers are synchronized to the corresponding values of the leader mobile robot. The second is l- φ  approach (distance angle) that is developed based on Lyapunov analysis, where the linear and angular velocity inputs of each follower mobile robot are adjusted such that the followers keep a desired separation distance and deviation angle with respect to the leader robot, and the overall system is asymptotically stable.The aim of this paper is to compare the performances of the presented methods for controlling a formation of wheeled mobile robots with matlab simulations.
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CiteScore
0.70
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