基于方位信息的輪式機器人動態(tài)編隊控制

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中圖分類號：TP242 文獻標志碼：A 文章編號：1000-582X（2025）04-084-13

doi：10.11835/j.issn.1000-582X.2025.04.007

引用格式：，等.基于方位信息的輪式機器人動態(tài)編隊控制[J].重慶大學學報，2025，48（4）：84-96.

Dynamic formation control of wheeled robots based on azimuth information

LI Yana， HE Binbina，LI Minghuib， DAI Qingyua （a.School of Electricaland Control Engineering； b. School of Mechanicaland Electrical Engineering， Shaanxi University of Science & Technology， Xi'an 710021， P. R. China）

Abstract： Addressing the scenario in which each robot can only acquire the azimuth information of adjacent robots in dynamic formations with incomplete constraints，this paper proposes a distributed PID formation control algorithm based solely onazimuth information.Withconsidering thatthe pilotrobot is susceptible todisturbances such as wind direction or road surface irregularities， which may disrupt formation maintenance， the algorithm introduces relative position and velocity feedback of thefollower robots.This approach effctively eliminates steady-state error， suppresses the influence of disturbances， improves system dynamic performance， and ensures global system stability.Then，the Routh-Hurwitz stability criterion is used for stability analysis，verifying the global stability ofthe formation system.Finally， simulation experiments compare the performance of the proposed control law with control laws based on pure proportional and proportional-integral strategies in terms of convergence speed and disturbancerejection.Theresults show that the proposedcontrollaw enables theformation to recover after disturbances and achieve rapid trajectory tracking of the leader， with the relative maximum deviation of the total azimuth error reduced by 5.4% ：

Keywords： azimuth information； wheeled robots； formation control； PID control algorithm

隨著機器人被應用于各個領域，多智能體協(xié)同控制引起了廣泛關注。（剩余9045字）