在感知受限下实现多机器人通信图的无碰撞刚性构建
From Non-Rigid to Rigid: Safe Acquisition of Rigid Communication Graphs under Limited Sensing
- 基于分布式二次优化，通过分层二阶一致性实现刚性图自动生成
- 无需初始刚性结构，可在动态环境中保持通信图刚性与避碰
- 适用于异构非线性系统，适合实际硬件部署的轻量级控制器
通信图刚性是多机器人编队控制中的基础要求。然而，在感知范围有限和动态环境条件下，维持刚性通信拓扑极具挑战。本文提出一种方法，可在不假设初始刚性图的前提下，实现无机器人碰撞、时变且刚性的通信图，通信连接依据有限感知范围动态建立或断开。该方法可保证异构非线性多机器人系统的刚性图实现。设计了一种计算轻量、分布式的二次优化控制器，用于领导-跟随架构，基于机器人间的分层二阶一致性实现刚性获取。跟随者无需任何全局绝对位置信息，包括自身位置。通过仿真和运动捕捉环境下的硬件实验验证，证明了该方法在个体机器人感知能力受限情况下的可靠性能。
原文摘要 · Abstract (English)
Communication graph rigidity is a fundamental requirement in many multi robot formation control approaches. However, ensuring and maintaining a rigid communication topology becomes challenging in practice due to limited sensing ranges and dynamic operating conditions. This paper provides a method for achieving an inter robot collision free, rigid time varying communication graph, where communication links are established or broken according to limited sensing ranges, without assuming an initial rigid graph. In addition, the proposed approach guarantees the realization of a rigid graph for heterogeneous nonlinear multi robot systems. A computationally lean, distributed quadratic optimization-based controller is developed for a leader follower architecture, acquiring rigidity based on hierarchical second-order consensus among robots. Follower agents do not require global absolute positions of any agent, including their own. The proposed method is validated through both simulations and hardware experiments in a motion-capture environment, demonstrating reliable performance under the limited sensing capabilities of individual robots.
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