基于虚拟领导-随从和人工势场的新型编队控制策略

2019 34rd Youth Academic Annual Conference of Chinese Association of Automation (YAC) Pub Date : 2019-06-01 DOI:10.1109/YAC.2019.8787593

Wang Wei

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引用次数: 2

摘要

提出了一种基于虚拟leader-follower和人工势场的多移动机器人编队控制策略。建立了包含多个移动机器人的编队的运动控制模型。在一个由多个移动机器人组成的系统中引入了一个虚拟领导者，它的行为方式与实际存在的机器人相同。此外，通过仿真实验证实，虚拟领导者完美地消除了真实机器人出现故障和系统失控的隐患，大大提高了系统的灵活性和稳定性。

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A new formation control strategy based on the virtual-leader-follower and artificial potential field

A new formation control strategy based on the virtual-leader-follower and artificial potential field for the formation of multiple mobile robots is proposed in this paper. A motion control model of a formation containing a plurality of mobile robots is established. A virtual leader is introduced in a system with multiple mobile robots, which acts in the same way as a robot that exists physically. In addition, it has been confirmed by simulation experiments that the virtual leader perfectly eliminates the hidden dangers of the real robot malfunctions and the system out of control, which greatly improves the flexibility and stability of the system.

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来源期刊

2019 34rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)

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