基于状态切换的分布式多机器人编队控制

doi:10.3969/j.issn.1000-1093.2019.05.024

兵工学报 ›› 2019, Vol. 40 ›› Issue (5): 1103-1112.doi: 10.3969/j.issn.1000-1093.2019.05.024

基于状态切换的分布式多机器人编队控制

卫恒¹，吕强¹，刘扬²，林辉灿¹，梁冰³

(1.陆军装甲兵学院兵器与控制系, 北京 100072; 2.空军航空大学信息系, 吉林长春 130022;3.江西理工大学信息工程学院, 江西赣州 341000)

收稿日期:2018-05-31 修回日期:2018-05-31 上线日期:2019-07-26
通讯作者: 吕强（1962—），男，教授，博士生导师 E-mail:qianglv@m165.com
作者简介:卫恒(1992—), 男, 博士研究生。E-mail: wh_killer@foxmail.com
基金资助:
国家自然科学基金项目（61663014）

State Switching-based Distributed Multi-robot Formation Control

WEI Heng¹， L Qiang¹， LIU Yang²， LIN Huican¹， LIANG Bing³

(1.Department of Weapons and Control, Academy of Army Armored Forces, Beijing 100072，China;2.Information Department, Aviation University of Air Force, Changchun 130022, Jilin, China;3.School of Information Engineering, Jiangxi University of Science and Technology, Ganzhou 341000, Jiangxi, China)

Received:2018-05-31 Revised:2018-05-31 Online:2019-07-26

摘要/Abstract

摘要： 人工势场方法、虚拟结构方法、领导跟随方法、基于行为的方法等传统多移动机器人编队控制算法，都只在编队控制的某个环节有较好的效果，并没有有效解决编队组建、行进、变换、避障等一系列完整动作。针对上述算法的优缺点及适应情形，应用切换系统的思想，提出了基于状态切换的分布式多机器人编队控制算法。设计了基于复合信息的状态切换触发机制，通过机器人自身状态和周围环境适时触发切换机制，合理选择编队控制的一种或多种算法；提出了基于超宽带（UWB）测距的队形反馈机制，利用UWB数据结构简单、便于在微型移动机器人上进行处理的特点，实时完成对整个编队队形的保持和反馈，同时提出分布式状态估计算法，为触发机制提供机器人的运行状态。通过搭建多移动机器人平台，将所提策略应用到实际机器人编队控制中，验证了算法的有效性和稳定性。

关键词: 多机器人, 编队控制, 状态切换, 分布式状态估计, 超宽带

Abstract: Traditional multi-mobile robot formation control algorithms, such as artificial potential field method, virtual structure method, leader-follower method and behavior-based method, have good effects in a specific part of formation control, and have not effectively solve a series of complete movement of formation, marching, transformation and obstacle avoidance. For the advantages and disadvantages of the algorithms mentioned above, the switching system is applied, and a distributed multi-robot formation control algorithm based on state switching is proposed. A state-switching trigger mechanism based on complex information is designed. The switching mechanism is triggered by the robot's own state and the surrounding environment, and one or more algorithms of formation control are reasonably selected. A formation feedback mechanism based on ultra-wideband (UWB) rangefinding is proposed, which makes use of the simple data structure of UWB to facilitate the processing of the micro-mobile robot, and completes the keeping and feedback of formation in real time. A distributed state estimation algorithm is proposed to provide the running state of robot for the trigger mechanism. The proposed strategy is applied to the actual robot formation control by constructing a multi-mobile robot platform, and the effectiveness and stability of the algorithm are verified. Key

Key words: multi-robot, formationcontrol, statusswitching, distributedstateestimation, ultra-wideband

中图分类号:

TP242.3

卫恒，吕强，刘扬，林辉灿，梁冰. 基于状态切换的分布式多机器人编队控制[J]. 兵工学报, 2019, 40(5): 1103-1112.

WEI Heng， L Qiang， LIU Yang， LIN Huican， LIANG Bing. State Switching-based Distributed Multi-robot Formation Control[J]. Acta Armamentarii, 2019, 40(5): 1103-1112.

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2019 年5月兵工学报ACTA
ARMAMENTARIIVol.40No.5May2019

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基于状态切换的分布式多机器人编队控制

State Switching-based Distributed Multi-robot Formation Control

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