Formation Control System Based on Virtual Force for Multi-robot System

Abstract

Abstract:

Aiming at multi-robot self-organizing collaboration control problem and using Zigbee wireless communication systems this paper presented a black board communication mode based on local information stored. Combined the leader-follower and the artificial potential field approach, a virtual force was defined based on distance and velocity vector. The problems of the paralyzed deadlock and decision conflicton for multi-robot self-organizing collaboration were solved by introducing a random generating function and variable repulsive force feedback control algorithm. And the small mobile intelligent physical implementation of the three two-wheel differential platform was built. Simulation results and mobile robots entity test demonstrate the validity and practicability of the proposed method.

Key words: multi-robot, formation control, virtual force, feedback control

摘要：

针对多机器人协同控制问题,采用Zigbee无线通信系统,设计了基于局部信息存储的黑板通信方式，将领航-跟随算法与虚拟力法相结合,定义了基于距离与速度分量的虚拟力，通过引入随机发生函数、变排斥力反馈控制算法,解决了多机器人自组织协作中瘫痪死锁、决策冲突的问题，构建了三台两轮差速驱动的小型移动智能体物理实现平台。仿真结果及移动机器人实体实验证明了该方法的有效性和可行性。

关键词: 多机器人, 编队控制, 虚拟力, 反馈控制

CLC Number:

TP273

Lou Xiaochun, Xie Yu. Formation Control System Based on Virtual Force for Multi-robot System[J]. China Mechanical Engineering, 2014, 25(24): 3294-3297,3302.

楼晓春, 谢宇. 一种基于虚拟力的多机器人编队控制系统[J]. 中国机械工程, 2014, 25(24): 3294-3297,3302.

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