复杂环境下多机器人的协同编队与避障控制研究

发布时间：2018-03-10 08:22

本文选题：多机器人　切入点：分布式协同编队控制　出处：《湖南工业大学》2017年硕士论文　论文类型：学位论文

【摘要】：随着控制理论、传感器技术与机器人等学科的发展,多机器人系统在控制学领域已成为一个研究热点。而当系统在完成任务时,通常需要机器人形成期望的编队队形,并且可以躲避障碍物的干扰,由此,多机器人的协同编队与避障控制问题受到了学者专家们越来越多的关注。本文围绕多机器人协同编队与避障任务来展开。首先,阐述了多机器人协同编队与避障控制的研究背景及意义、国内外现状,证明了本研究的意义与价值,并接着介绍了单机器人与多机器人的体系结构,最后给出本论文中所采用的多智能体系统分布式体系结构。其次重点研究了两轮式移动机器人的运动学模型,并提出一种基于虚拟领航法和反步法进行轨迹跟踪的多机器人编队算法。本章在追踪控制律设计过程的基础上,运用Backstepping方法构造轮式机器人追踪系统的Lyapunov函数,通过使该Lyapunov函数负定,设计出编队控制算法。并通过三组仿真实验,验证了本章算法的有效性。然后,针对两轮式移动机器人在三维环境下的编队控制问题,构建了多机器人系统在三维空间下的编队模型,并利用空间投影方法将其映射到二维平面进行分析,通过结合本文所提出的编队控制算法,设计出针对三维空间下轮式机器人的编队控制器。并通过三维空间下多机器人的编队控制仿真实验,验证了所提出该方法的有效性和精准性。最后研究了多移动机器人如何在复杂环境下完成编队与避障控制的问题。该章节基于上章节所提出的三维编队控制转为二维编队控制分析的方法,结合人工势场法避障方法,设定避障策略,完成多机器人在复杂环境下的编队与避障任务。最后,通过多机器人协同编队与避障控制的两组仿真实验,验证了所提出该方法的有效性和抗干扰性。综上,本文介绍了所采用的多机器人系统分布式体系结构,提出了一种多机器人协同编队控制算法,然后设计出一种三维空间中多机器人的协同编队方法,最后给出复杂环境下多机器人的协同编队与避障控制研究成果,并依次通过仿真实验来验证本文理论研究中提出的算法、方法的有效性,稳定性和精准性,一定程度上达到了本文所研究的目的。
[Abstract]:With the development of control theory, sensor technology and robotics, multi-robot systems have become a research hotspot in the field of control. And it can avoid the interference of obstacles. Therefore, the problem of multi-robot cooperative formation and obstacle avoidance has been paid more and more attention by scholars and experts. This paper focuses on the task of multi-robot cooperative formation and obstacle avoidance. First of all, This paper expounds the research background and significance of multi-robot cooperative formation and obstacle avoidance control, the present situation at home and abroad, proves the significance and value of this research, and then introduces the architecture of single robot and multi-robot. Finally, the distributed architecture of multi-agent system used in this thesis is given. Secondly, the kinematics model of two-wheeled mobile robot is studied. In this chapter, based on the design of tracking control law, the Lyapunov function of wheeled robot tracking system is constructed by using Backstepping method. By making the Lyapunov function negative definite, the formation control algorithm is designed, and the validity of the algorithm is verified by three groups of simulation experiments. Then, aiming at the formation control problem of two-wheeled mobile robot in three-dimensional environment, The formation model of multi-robot system in three-dimensional space is constructed and mapped to two-dimensional plane by space projection method. The formation control algorithm proposed in this paper is combined. A formation controller for wheeled robots in three-dimensional space is designed, and the simulation experiment of multi-robot formation control in three-dimensional space is carried out. The effectiveness and accuracy of the proposed method are verified. Finally, the problem of how to complete formation and obstacle avoidance control for multi-mobile robots in complex environments is studied. This chapter is based on the 3D formation control proposed in the previous section. Two dimensional formation control analysis method, Combined with artificial potential field method, obstacle avoidance strategy is set up to accomplish formation and obstacle avoidance task of multi-robot in complex environment. Finally, two groups of simulation experiments of multi-robot cooperative formation and obstacle avoidance control are carried out. The effectiveness and anti-jamming performance of the proposed method are verified. In summary, the distributed architecture of multi-robot system is introduced, and a multi-robot cooperative formation control algorithm is proposed. Then a collaborative formation method of multi-robot in three-dimensional space is designed. Finally, the research results of cooperative formation and obstacle avoidance control of multi-robot in complex environment are given, and the algorithms proposed in this paper are verified by simulation experiments. The effectiveness, stability and accuracy of the method to some extent achieved the purpose of this study.
【学位授予单位】：湖南工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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