Cooperative Constrained Enclosing Control of Multirobot Systems in Obstacle Environments
Cooperative Constrained Enclosing Control of Multirobot Systems in Obstacle Environments
复制标题
障碍环境下多机器人系统的协同约束封闭控制
DOI：
10.1109/tcns.2023.3299151
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发表时间：
2024-06
影响因子：
4.2
通讯作者：
K. Lu;Shi‐Lu Dai;Xu Jin
中科院分区：
文献类型：
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作者：
K. Lu;Shi‐Lu Dai;Xu Jin
针对多机器人系统在障碍物环境下的安全导航和编队精度问题，提出了一种新的协作约束控制框架。当移动的障碍物阻止包围运动时，包围队形以精确的间隔图案向目标收缩。在没有环境信息的先验知识的情况下，移动机器人组可以跟踪和包围移动目标，同时保证有限的传感要求和与目标、邻近机器人和障碍物的碰撞避免。在精度约束下，当一个机器人的环绕速度只分配给一个机器人时，移动机器人由其邻居驱动，直到所有机器人作为一个整体包围目标。在速度观测器的帮助下，机器人群体可以在不知道目标速度的情况下收敛到所需封闭队形的一个小邻域。仿真结果验证了所提出的约束控制策略的有效性。
This article develops a novel cooperative constrained control framework to solve the moving-target enclosing problem for multirobot systems, where safe navigation and formation precision are concerned in obstacle environments. When moving obstacles block the encircling motion, the enclosing formation contracts toward the target with a precise spacing pattern. Without a priori knowledge of environmental information, the mobile robot group can track and enclose a moving target while guaranteeing limited sensing requirements and collision avoidance with the target, neighboring robots, and obstacles. Under the precision constraint, with an encircling speed assigned to only one robot, the mobile robots are driven by their neighbors until all robots enclose the target as a whole. With the help of velocity observers, the robot group can converge to a small neighborhood of the desired enclosing formation without knowing the target's velocity. Simulation results demonstrate the effectiveness of the proposed constrained control strategy.