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基于轨迹跟踪车式移动机器人编队控制

DOI: 10.13195/j.kzyjc.2013.1277, PP. 176-180

Keywords: 车式移动机器人,轨迹跟踪,反步法,编队控制

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Abstract:

针对车式移动机器人的运动学模型特点,提出一种基于轨迹跟踪多机器人编队控制方法.首先利用编队结构参数确定队形,根据编队轨迹和相关参数生成虚拟机器人,把编队控制转化为跟随机器人对虚拟机器人的轨迹跟踪;然后运用反步法构造车式移动机器人轨迹跟踪系统的Lyapunov函数,通过使该函数负定,得到跟随机器人的轨迹跟踪控制器;最后在Microsoftroboticsdeveloperstudio4(MRDS4)中搭建3D仿真平台,设计了3组实验,所得结果表明了所提出方法的有效性.

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