基于多传感器融合的机器人编队ADRC控制

Multi-sensor fusion based ADRC Control of multiple Robots formation

摘要:

针对移动机器人编队问题,设计了一种基于多传感器信息融合和自抗扰控制器的编队控制系统。首先,为提高机器人的定位精度,采用卡尔曼滤波算法对激光数据和里程计数据进行融合,以更加精确的获得移动机器人的坐标信息,并建立主从机器人轨迹跟踪误差模型。进而设计了自抗扰控制器,完成扩张状态观测器以及控制规律的设计,实现移动机器人的跟踪编队控制。最后,设计了编队控制实验平台,并在该平台上验证了所提出方法的有效性和优越性。

Abstract:

This paper is concerned with the formation control system problem for multiple robots based on multi-sensor information fusion approach. First, the Kalman filter algorithm is applied to fuse the laser and odometry data to improve the positioning accuracy of the robot, which help establish the error model of the robot formation system. Then, a ADRC controller is designed to realize the formation control of the mobile robot. Finally, a formation control experiment platform is designed, and the effectiveness and advantages of the proposed methods are verified on the platform.