%0 Journal Article
%T 基于纯角度观测信息的leader-followers机器人编队控制方法<br>Bearing-only Leader-Followers Multi-Robot Formation Control
%A 韩青
%A 孙树栋
%A 智睿瑞
%J 西北工业大学学报
%D 2015
%X 提出一种纯角度观测信息的leader-followers多机器人编队控制方法.多个跟随机器人(followers)仅观测其领航机器人(leader)角度信息;基于非线性系统可观测性的理论研究,这种纯角度观测信息能够满足leader-followers的可观测性要求;利用无迹卡尔曼滤波算法对leader-followers机器人系统的状态进行估计,根据状态估计结果设计了输入-输出状态反馈控制规律控制跟随机器人运动,以达到理想的编队效果。仿真验证了该方法的可行性。<br>A bearing-only formation control method for leader-followers multi-robots is proposed. In the study, follower-robots can only observe the bearing information of the leader-robot. Based on the observability of nonlinear system, studies show that the bearing-only observation meets the leader-followers observability condition for general nonlinear system. The unscented Kalman filter(UKF)is employed to estimate the state of leader-followers'robots. The results are used for followers' movement control via the input-output feedback control law, so that the desired formation of the robots are maintained. Simulation results are presented to demonstrate the feasibility of the approach
%K 算法
%K 角速度
%K 控制
%K 实验
%K 反馈控制
%K 卡尔曼滤波
%K 数学模型
%K MATLAB
%K 矩阵代数
%K 非线性系统
%K 机器人
%K 轨迹
%K 速度
%K 编队控制
%K leader-followers编队控制及可观测性
%K 移动机器人
%K 无迹卡尔曼滤波
%K 无迹卡尔曼滤波算法与输入-输出反馈控制规律&lt
%K br&gt
%K algorithms
%K angular velocity
%K control
%K experiments
%K feedback control
%K Kalman filters
%K mathematical models
%K MATLAB
%K matrix algebra
%K nonlinear systems
%K robots
%K trajectories
%K velocity
%K formation control
%K leader-followers formation control and observability
%K mobile robot
%K UKF(Unscented Kalman filter)
%K UKF filter algorithm and input-output feedback control law
%U http://journals.nwpu.edu.cn/xbgydxxb/CN/abstract/abstract6503.shtml