考虑区域约束的轮式机器人编队跟踪控制，提升安全性。
Time-Varying Formation Tracking Control of Wheeled Mobile Robots With Region Constraint: A Generalized Udwadia-Kalaba Framework
- 基于广义乌德亚-卡拉巴框架设计编队控制器
- 通过微分同胚处理区域约束，实现安全路径规划
- 适用于需避障的多机器人协同任务
本文从广义乌德亚-卡拉巴框架出发，研究具有区域约束的轮式移动机器人时变编队跟踪控制问题。通信网络建模为有向加权图，且以领航者为根节点的生成树存在。将时变编队跟踪目标重构为等式约束方程，并通过微分同胚变换处理区域约束，在广义乌德亚-卡拉巴框架下设计出满足区域约束的时变编队跟踪控制器。相较于已有工作，本方法首次在时变编队控制中引入区域约束，保障机器人运行安全。最后通过数值仿真验证了所提控制策略的有效性。
原文摘要 · Abstract (English)
In this article, the time-varying formation tracking control of wheeled mobile robots with region constraint is investigated from a generalized Udwadia-Kalaba framework. The communication network is modeled as a directed and weighted graph that has a spanning tree with the leader being the root. By reformulating the time-varying formation tracking control objective as an equality constrained equation and transforming the region constraint by a diffeomorphism, the time-varying formation tracking controller with the region constraint is designed under the generalized Udwadia-Kalaba framework. Compared with the existing works on time-varying formation tracking control, the region constraint is taken into account in this paper, which ensures the safety of the robots. Finally, the feasibility of the proposed control strategy is illustrated through some numerical simulations.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。