基于纯角度观测信息的leader-followers机器人编队控制方法
Bearing-only Leader-Followers Multi-Robot Formation Control

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。
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