Formation control for autonomous robots with collision and obstacle avoidance using a rotational and repulsive force-based approach
Formation control for autonomous robots with collision and obstacle avoidance using a rotational and repulsive force-based approach
复制标题
DOI：
10.1177/1729881419847897
复制
发表时间：
2019-05-21
影响因子：
2.3
通讯作者：
Horn, Joachim
中科院分区：
文献类型：
--
作者：
Anh Duc Dang;Hung Manh La;Horn, Joachim
在本文中，我们解决了一组自主机器人在存在障碍物的情况下跟踪移动目标的编队控制问题。在该方法中，首先生成以特定形状排列的虚拟节点组成的所需编队。然后，使用一种基于人工力场的新型控制方案，驱动自主机器人在不发生碰撞的情况下向这些虚拟节点移动。基于Lyapunov稳定性给出了收敛性分析。该方法的新颖之处在于将旋转力场和斥力场结合起来，设计出一种机构，使机器人能够避开和逃脱形状复杂的障碍物。通过v形和圆形的数值算例说明了该方法的有效性。
In this article, we address a formation control problem for a group of autonomous robots to track a moving target in the presence of obstacles. In the proposed method, desired formations, which consist of virtual nodes arranged in specific shapes, are first generated. Then, autonomous robots are driven toward these virtual nodes without collisions with each other using a novel control scheme, which is based on artificial force fields. The convergence analysis is shown based on Lyapunov's stability. The novelty of the proposed approach lies in a new combination of rotational force field and repulsive force field to design a mechanism so that robots can avoid and escape complex obstacle shapes. The effectiveness of the proposed method is illustrated with numerical examples using V-shape and circular shape formations.