作者：高继勋¹, 黄全振², 赵媛媛³

作者单位：1. 河南工程学院计算机学院，河南 郑州 451191;
2. 河南工程学院电气信息学院，河南 郑州 451191;
3. 郑州工程技术学院，河南 郑州450044

关键词：编队控制;多机器人;领航跟随法;差速驱动

摘要：

编队控制是多机器人控制的核心问题之一 。该文针对复杂编队控制问题，提出一种基于领航跟随法的多机器人编队控制策略。通过建立差速驱动机器人运动学模型，引入“虚拟领航机器人”，将编队控制分解为跟随机器人与虚拟领航机器人之间期望距离和角速度的控制，从而完成多机器人之间的编队。通过仿真和实验，表明在较短时间内，跟随机器人运动轨迹与期望轨迹误差趋近于0，其速度也收敛到0.8 m/s，从而证明该机器人编队控制系统有效且稳定。

Multi robot formation control based on leader-follower method
GAO Jixun¹, HUANG Quanzhen², ZHAO Yuanyuan³
1. School of Computer, Henan University of Engineering, Zhengzhou 451191, China;
2. School of Electrical Information Engineering, Henan University of Engineering, Zhengzhou 451191, China;
3. Zhengzhou University of Technology, Zhengzhou 450044, China
Abstract: Formation control is one of the core problems of multi-robot control. In this paper, the authors propose a multi-robot formation control strategy based on the leader-follower method for complex formation control problems. By establishing a kinematic model of differential drive robot and introducing a “virtual leader robot”, the formation control is decomposed into the control of the desired distance and angular velocity between the follower robot and the virtual leader robot, so as to complete the formation between multiple robots. Through simulations and experiments, it is shown that in a short period of time, the trajectory of the follower robot converges to 0 and its velocity converges to 0.8 m/s, thus proving that the robot formation control system designed in this paper is effective and stable.
Keywords: formation control;multi-robot;leader-follower method;differential drive
2021, 47(11):8-13  收稿日期: 2021-06-10;收到修改稿日期: 2021-07-20
基金项目: 国家自然科学联合基金项目（U1804162）；国家自然科学基金项目（62173126）；河南省高校科技创新团队支持计划（21IRTSTHN017）；河南省科技攻关项目（192102210072，212102310551）；河南省高等学校重点科研项目（19A520008，20A413002，22A520011）
作者简介: 高继勋(1980-)，男，河南洛阳市人，副教授，硕士，研究方向为嵌入式技术、人工智能、图像识别技术
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