纵向打滑状态下的轮式移动机器人编队控制

摘要

针对轮式移动机器人车轮纵向打滑时的编队控制问题,提出一种基于滑移率补偿和模糊逻辑的多机器人编队控制器设计方法.首先,利用速度传感器获取机器人的实际速度信息,并进行滤波减少传感器噪声.结合速度输入指令信号得到滑移率估计值,用以描述机器人纵向打滑的程度.然后根据领航跟随法,设计补偿纵向打滑的编队控制策略,并采用模糊逻辑设计控制器参数.最后在Microsoft Robotics Developer Studi0 4(MRDS4)中搭建3D物理仿真平台,进行编队控制仿真,验证了领航、跟随机器人发生打滑的情况下所提方法的有效性.%For the formation control problem of the car-like mobile robot with longitudinal slip,a formation control algorithm is proposed based on the compensation of slip ratio and fuzzy logic.Firstly,the real velocity of the robot is acquired by sensors.And decrease the noise through filtering.Then the real velocity is compared with the input velocity signal to get the estimation of slip ratio,which represents the degree of slip.According to the leader-follower method,a formation control strategy with compensation of slip ratio is designed,and fuzzy logic is adapted to design controller parameters.Finally,simulations are designed in the Microsoft Robotics Developer Studio 4.The simulation results show the effectiveness of the presented method in many situations when the leading or following robot slips.