论文标题
在曲线虚拟管中的强大分布式控制
Robust Distributed Control within a Curve Virtual Tube for a Robotic Swarm under Self-Localization Drift and Precise Relative Navigation
论文作者
论文摘要
为了指导机器人群在走廊般的环境中的运动，在我们以前的工作中设计了一个曲线虚拟管，内部没有内部。本文将控制器设计概括为所有机器人都具有自定位漂移和精确的相对导航的条件，其中引入了羊群算法以减少自定位漂移的负面影响。结果表明，内聚力行为和速度比对行为能够分别减少位置测量漂移和速度测量误差的影响。为了方便实际使用，提出了具有五个控制术语的修改矢量场控制器。最后，通过数值模拟和实际实验来验证所提出方法的有效性。
To guide the movement of a robotic swarm in a corridor-like environment, a curve virtual tube with no obstacle inside is designed in our previous work. This paper generalizes the controller design to the condition that all robots have self-localization drifts and precise relative navigation, where the flocking algorithm is introduced to reduce the negative impact of the self-localization drift. It is shown that the cohesion behavior and the velocity alignment behavior are able to reduce the influence of the position measurement drift and the velocity measurement error, respectively. For the convenience in practical use, a modified vector field controller with five control terms is put forward. Finally, the effectiveness of the proposed method is validated by numerical simulations and real experiments.
