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针对有向刚性图即持久图在双轮机器人编队中的应用,研究了将持久队形生成与势场函数控制相结合的编队形成方法。首先,基于Henneberg序列有向操作生成持久编队队形,同时对Leader-Follower队形中的第一跟随者和普通跟随者分别设计势场函数,并结合双轮机器人的非完整性的设计速度输出,完成队形控制;通过持久图与势场函数的有效结合,可以使得双轮机器人在简捷的通讯下完成刚性队形的形成、保持与变换。最后,利用Player/Stage平台仿真验证所提理论的有效性。
Aimed at the application of directed rigid graph, ie, long-lasting graph in two-wheeled robot formation, the formative formation method of combining formation of long formation with control of potential field function was studied. First of all, based on the Henneberg sequence directed operation, a long formation formation is generated. At the same time, the potential field function is designed for the first follower and the ordinary follower in the Leader-Follower formation, respectively, and combined with the non-integral design speed output of the two-wheeled robot To complete the formation control. By the effective combination of the permanent map and the potential field function, the two-wheeled robot can form, maintain and transform the rigid formation under the simple communication. Finally, the validity of the proposed theory is verified by using Player / Stage platform simulation.