基于领袖-追随者方法的形成控制,用于蛇机器人

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Wu Wang¹, Zhihang Du¹, Dongfang Li¹

¹College of Electrical Engineering and Automation, Fuzhou University, Fuzhou, 350108, Fujian, China; 5G+ Industrial Internet Institute, Fuzhou University, Fuzhou, 350108, Fujian, China.

ISA transactions

|December 10, 2024

概括

这项研究为蛇机器人队伍引入了一种新的领袖-追随者控制,增强步行模式,以实现更快,更准确的轨迹跟踪. 该方法确保追随者保持阵容,改善整体系统性能.

科学领域:

机器人技术机器人技术机器人技术
控制系统控制系统
机械工程机械工程

背景情况:

蛇机器人在狭窄或复杂的环境中提供了独特的优势.
多机器人系统的协调控制对于复杂的任务至关重要.
现有的Serpenoid步态在动态形成控制方面存在局限性.

研究的目的:

为多个蛇机器人队伍开发一个领导-追随者控制策略.
为了提高蛇机器人队伍的轨迹跟踪精度和收速度.
确保稳定的队伍维护,使用领导-追随者方法.

主要方法:

使用了一种简化的蛇机器人模型.
蛇形步行模式被修改为时间变化的频率.
整合了视线 (LOS) 方法来跟踪轨迹.
建立了一个领导者-追随者错误系统,并使用利亚普诺夫稳定性理论进行分析.

主要成果:

领导机器人成功地以理想的速度跟踪所需的轨迹.
追随机器人保持与领导者相对预设的几何位置.
与现有方法相比,拟议的控制方法显示了更快的融合和更高的跟踪精度.
利亚普诺夫的理论证实了蛇机器人的稳定性.

结论:

拟议的领导者-追随者控制方法对于多蛇机器人队伍是有效的.
增强的Serpenoid步态和LOS控制可以提高阵容的性能.
这一战略在协调蛇机器人控制方面取得了重大进展.

关键词:

形成控制控制形成控制领袖的追随者领袖的追随者蛇机器人的蛇机器人轨迹跟踪跟踪轨道跟踪

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