山东大学学报 (工学版) ›› 2023, Vol. 53 ›› Issue (4): 157-162.doi: 10.6040/j.issn.1672-3961.0.2022.311
• 其他 • 上一篇
张海森,张煌,王常顺*
ZHANG Haisen, ZHANG Huang, WANG Changshun*
摘要： 针对多移动机器人的协同搬运控制问题,基于领航-跟随者策略设计多移动机器人编队控制器。利用编队参数和领航者位置信息将编队控制转换为跟随者对虚拟机器人轨迹跟踪,实现编队的队形控制;利用反演法设计运动控制器,实现移动机器人轨迹跟踪控制;利用Lyapunov函数分析闭环系统的稳定性。仿真结果表明,编队中的移动机器人能够快速形成和保持给定的编队队形,并沿期望轨迹移动,实现了大件物品的协同搬运。
中图分类号:
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