作　　者： (王钦钊）; (程金勇）; (李小龙）;

机构地区： 装甲兵工程学院控制工程系,北京100072

出　　处： 《兵器装备工程学报》 2017年第8期98-102,共5页

摘　　要： 提出一种多机器人协同编队方法;根据领航机器人和队形库确定虚拟领航者的位姿参数,将基于领导跟随方法的编队问题转化为跟随机器人对于虚拟领航者的轨迹追踪问题;采用Back Stepping方法逐步构造控制系统的Lyapunov函数,使该函数负定,跟随机器人全局渐进的跟踪各自的虚拟领航者;仿真和实物实验验证了该编队方法的有效性与可行性。 A multi-robot coordinated formation algorithm is proposed. Virtual robot is established according to the leader＇s pose and the desired formation parameters. The formation problem based on leader follower algorithm is transformed into robot trajectory tracking problems following the virtual leader. We uses Back Stepping method to construct Lyapunov function,making the function negative-definite. The formation controller is realized in this way. Simulation and experiment results show that the proposed controller is effective.

关 键 词： 全向机器人 编队 轨迹跟踪