Decentralized behavior-based formation control of multiple robots considering obstacle avoidance
Decentralized behavior-based formation control of multiple robots considering obstacle avoidance
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DOI：
10.1007/s11370-017-0240-y
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发表时间：
2018-01-01
影响因子：
2.5
通讯作者：
Chwa, Dongkyoung
中科院分区：
文献类型：
--
作者：
Lee, Giroung;Chwa, Dongkyoung
提出了一种基于分散行为的多机器人避障编队控制算法。该算法仅利用相邻机器人与障碍物之间的相对位置信息，实现了基于行为算法的编队控制。此外，通过保持每个机器人与领导者机器人的距离和角度来实现鲁棒队形，而不使用领导者机器人的信息。为了避免与障碍物的碰撞，通过引入逃逸角的概念来确定所有机器人的航向角，逃逸角与障碍物和机器人之间的三个边界层有关。机器人所在的层决定了回避的开始时间和逃逸角度;这反过来又生成了逃逸路径，机器人可以沿着该路径沿着向安全层移动。这样，所提出的方法可以大大简化信息处理的步骤。最后，仿真结果证明了该算法的有效性。
This paper proposes a decentralized behavior-based formation control algorithm for multiple robots considering obstacle avoidance. Using only the information of the relative position of a robot between neighboring robots and obstacles, the proposed algorithm achieves formation control based on a behavior-based algorithm. In addition, the robust formation is achieved by maintaining the distance and angle of each robot toward the leader robot without using information of the leader robot. To avoid the collisions with obstacles, the heading angles of all robots are determined by introducing the concept of an escape angle, which is related with three boundary layers between an obstacle and the robot. The layer on which the robot is located determines the start time of avoidance and escape angle; this, in turn, generates the escape path along which a robot can move toward the safe layer. In this way, the proposed method can significantly simplify the step of the information process. Finally, simulation results are provided to demonstrate the efficiency of the proposed algorithm.