四足机器人团队在复杂环境中的动态角色协作导航
Role-Adaptive Collaborative Formation Planning for Team of Quadruped Robots in Cluttered Environments
- 基于动态角色分配与部分目标规划，实现灵活编队
- 多机器人保持稳定编队，避开障碍物且无碰撞
- 适合复杂非结构化场景下的多机器人协同任务
本文提出一种面向四足机器人团队在复杂环境中运行的、基于动态角色自适应的领航-跟随式编队规划与控制框架。与传统固定领航者或刚性角色分工不同，该方法结合动态角色分配与局部目标规划，支持在复杂场景中灵活、无碰撞地导航。通过虚拟弹簧阻尼系统与新型障碍物规避层协同，保障编队稳定性和机器人间安全距离，并动态调整各智能体速度。进一步设计动态前瞻参考生成器，允许临时编队变形以绕过障碍物，同时保持向目标前进。全局路径由快速行进正方形（FM2）算法生成，用于领航者；追随者则获得局部路径。通过大量仿真和真实四足机器人实验验证，结果表明该框架能实现平滑协同、动态角色切换及复杂非结构化环境下的鲁棒编队维持。相关视频演示与可视化可访问：https://youtu.be/scq37Tua9W4。
原文摘要 · Abstract (English)
This paper presents a role-adaptive Leader-Follower-based formation planning and control framework for teams of quadruped robots operating in cluttered environments. Unlike conventional methods with fixed leaders or rigid formation roles, the proposed approach integrates dynamic role assignment and partial goal planning, enabling flexible, collision-free navigation in complex scenarios. Formation stability and inter-robot safety are ensured through a virtual spring-damper system coupled with a novel obstacle avoidance layer that adaptively adjusts each agent's velocity. A dynamic look-ahead reference generator further enhances flexibility, allowing temporary formation deformation to maneuver around obstacles while maintaining goal-directed motion. The Fast Marching Square (FM2) algorithm provides the global path for the leader and local paths for the followers as the planning backbone. The framework is validated through extensive simulations and real-world experiments with teams of quadruped robots. Results demonstrate smooth coordination, adaptive role switching, and robust formation maintenance in complex, unstructured environments. A video featuring the simulation and physical experiments along with their associated visualizations can be found at https://youtu.be/scq37Tua9W4.
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