非完整移动机器人目标环绕动态反馈线性化控制

摘要

本文针对多个非完整移动机器人对静止或运动目标的环绕追踪问题进行研究.每个机器人仅通过自身和其相邻的机器人的位置与方向信息以及所追踪的目标的位置信息来协调其运动.首先,提出了一种基于动态反馈线性化方法的分布式控制策略,并引入一个控制机器人之间相对角间距的非线性函数,控制机器人间的相对角间距.使多个机器人能够以期望的与目标之间的相对距离、环绕速度和机器人之间的相对角间距对目标进行追踪.然后,利用Lyapunov工具对控制算法进行了渐近稳定性和收敛性分析.最后构建了多移动机器人实验平台,进行了数值仿真和实验验证,仿真和实验的运行结果表明了所提出算法的有效性.%This paper considers the problem of cooperative circumnavigation of a stationary or moving target with a group of autonomous nonholonomic mobile robots. The goal is achieved in a distributed way where each of the robots coordinates its motion knowing its own position and orientation, the orientation of its neighbors, and the position of the target. Firstly, a distributed control strategy using dynamic feedback linearization method is proposed, and a nonlinear function is introduced to control the relative angular spacing between the robots. It is shown that under the proposed control schemes, a group of nonholonomic robots can circumnavigate the stationary or moving target with prescribed radius, circular velocity, and inter-robot angular spacing. Then, explicit stability and convergence analysis are presented using Lyapunov tools. Finally, the experimental platform of multiple mobile robots is constructed, the effectiveness and applicability of the proposed control strategy are demonstrated through numerical simulation and experimental results.