本文選題：多機(jī)器人　切入點(diǎn)：分布式協(xié)同編隊(duì)控制　出處：《湖南工業(yè)大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：隨著控制理論、傳感器技術(shù)與機(jī)器人等學(xué)科的發(fā)展,多機(jī)器人系統(tǒng)在控制學(xué)領(lǐng)域已成為一個(gè)研究熱點(diǎn)。而當(dāng)系統(tǒng)在完成任務(wù)時(shí),通常需要機(jī)器人形成期望的編隊(duì)隊(duì)形,并且可以躲避障礙物的干擾,由此,多機(jī)器人的協(xié)同編隊(duì)與避障控制問(wèn)題受到了學(xué)者專家們?cè)絹?lái)越多的關(guān)注。本文圍繞多機(jī)器人協(xié)同編隊(duì)與避障任務(wù)來(lái)展開(kāi)。首先,闡述了多機(jī)器人協(xié)同編隊(duì)與避障控制的研究背景及意義、國(guó)內(nèi)外現(xiàn)狀,證明了本研究的意義與價(jià)值,并接著介紹了單機(jī)器人與多機(jī)器人的體系結(jié)構(gòu),最后給出本論文中所采用的多智能體系統(tǒng)分布式體系結(jié)構(gòu)。其次重點(diǎn)研究了兩輪式移動(dòng)機(jī)器人的運(yùn)動(dòng)學(xué)模型,并提出一種基于虛擬領(lǐng)航法和反步法進(jìn)行軌跡跟蹤的多機(jī)器人編隊(duì)算法。本章在追蹤控制律設(shè)計(jì)過(guò)程的基礎(chǔ)上,運(yùn)用Backstepping方法構(gòu)造輪式機(jī)器人追蹤系統(tǒng)的Lyapunov函數(shù),通過(guò)使該Lyapunov函數(shù)負(fù)定,設(shè)計(jì)出編隊(duì)控制算法。并通過(guò)三組仿真實(shí)驗(yàn),驗(yàn)證了本章算法的有效性。然后,針對(duì)兩輪式移動(dòng)機(jī)器人在三維環(huán)境下的編隊(duì)控制問(wèn)題,構(gòu)建了多機(jī)器人系統(tǒng)在三維空間下的編隊(duì)模型,并利用空間投影方法將其映射到二維平面進(jìn)行分析,通過(guò)結(jié)合本文所提出的編隊(duì)控制算法,設(shè)計(jì)出針對(duì)三維空間下輪式機(jī)器人的編隊(duì)控制器。并通過(guò)三維空間下多機(jī)器人的編隊(duì)控制仿真實(shí)驗(yàn),驗(yàn)證了所提出該方法的有效性和精準(zhǔn)性。最后研究了多移動(dòng)機(jī)器人如何在復(fù)雜環(huán)境下完成編隊(duì)與避障控制的問(wèn)題。該章節(jié)基于上章節(jié)所提出的三維編隊(duì)控制轉(zhuǎn)為二維編隊(duì)控制分析的方法,結(jié)合人工勢(shì)場(chǎng)法避障方法,設(shè)定避障策略,完成多機(jī)器人在復(fù)雜環(huán)境下的編隊(duì)與避障任務(wù)。最后,通過(guò)多機(jī)器人協(xié)同編隊(duì)與避障控制的兩組仿真實(shí)驗(yàn),驗(yàn)證了所提出該方法的有效性和抗干擾性。綜上,本文介紹了所采用的多機(jī)器人系統(tǒng)分布式體系結(jié)構(gòu),提出了一種多機(jī)器人協(xié)同編隊(duì)控制算法,然后設(shè)計(jì)出一種三維空間中多機(jī)器人的協(xié)同編隊(duì)方法,最后給出復(fù)雜環(huán)境下多機(jī)器人的協(xié)同編隊(duì)與避障控制研究成果,并依次通過(guò)仿真實(shí)驗(yàn)來(lái)驗(yàn)證本文理論研究中提出的算法、方法的有效性,穩(wěn)定性和精準(zhǔn)性,一定程度上達(dá)到了本文所研究的目的。
[Abstract]:With the development of control theory, sensor technology and robotics, multi-robot systems have become a research hotspot in the field of control. And it can avoid the interference of obstacles. Therefore, the problem of multi-robot cooperative formation and obstacle avoidance has been paid more and more attention by scholars and experts. This paper focuses on the task of multi-robot cooperative formation and obstacle avoidance. First of all, This paper expounds the research background and significance of multi-robot cooperative formation and obstacle avoidance control, the present situation at home and abroad, proves the significance and value of this research, and then introduces the architecture of single robot and multi-robot. Finally, the distributed architecture of multi-agent system used in this thesis is given. Secondly, the kinematics model of two-wheeled mobile robot is studied. In this chapter, based on the design of tracking control law, the Lyapunov function of wheeled robot tracking system is constructed by using Backstepping method. By making the Lyapunov function negative definite, the formation control algorithm is designed, and the validity of the algorithm is verified by three groups of simulation experiments. Then, aiming at the formation control problem of two-wheeled mobile robot in three-dimensional environment, The formation model of multi-robot system in three-dimensional space is constructed and mapped to two-dimensional plane by space projection method. The formation control algorithm proposed in this paper is combined. A formation controller for wheeled robots in three-dimensional space is designed, and the simulation experiment of multi-robot formation control in three-dimensional space is carried out. The effectiveness and accuracy of the proposed method are verified. Finally, the problem of how to complete formation and obstacle avoidance control for multi-mobile robots in complex environments is studied. This chapter is based on the 3D formation control proposed in the previous section. Two dimensional formation control analysis method, Combined with artificial potential field method, obstacle avoidance strategy is set up to accomplish formation and obstacle avoidance task of multi-robot in complex environment. Finally, two groups of simulation experiments of multi-robot cooperative formation and obstacle avoidance control are carried out. The effectiveness and anti-jamming performance of the proposed method are verified. In summary, the distributed architecture of multi-robot system is introduced, and a multi-robot cooperative formation control algorithm is proposed. Then a collaborative formation method of multi-robot in three-dimensional space is designed. Finally, the research results of cooperative formation and obstacle avoidance control of multi-robot in complex environment are given, and the algorithms proposed in this paper are verified by simulation experiments. The effectiveness, stability and accuracy of the method to some extent achieved the purpose of this study.
【學(xué)位授予單位】：湖南工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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