多动态目标的多机器人协同环航控制

Cooperative circumnavigation control for a cluster of robots for multi-target with dynamic evolution

摘要:

主要研究了多个非完整机器人对多个动态目标的协同环航控制问题；首先,针对多目标护航任务,建立目标扩展圆形构型,以期完成紧密目标保卫任务；其次,针对护航机器人,通过利用自身及相邻节点的位置与方位信息及所包围的动态目标的中心位置及扩展半径设计分布式时变圆形编队控制协议,实现预定几何分布下的机器人环航编队设计；其中,通过引入虚拟信号变量设计期望的速度及角速度控制律,利用反步技术提出了一种新的考虑时变护航半径的分布式控制策略；在对目标节点速度的温和假设下,所提出的编队控制器可以驱动多护航机器人渐近收敛到以多目标中心的圆上,同时维持一个预定的几何编队配置；Lyapunov分析证明了所有的误差都可以渐进稳定到原点,数值仿真核实了所构建的控制方案的可行性。

Abstract:

This paper mainly studies a cooperative circumnavigation control problem of multiple non-holonomic robots for multiple dynamic targets. First, an extended circular multiple target configuration is ensured to drive robots to generate the target defense mission. Then, a distributed time-varying circular formation control protocol is proposed based on the relative position and orientation of nodes, while its neighbors are used to escort target under the predetermined geometric distribution cooperatively. Note that the center and enclosing radius of the dynamic targets are time-varying. Specially, by designing virtual signal variables into the desired velocity and angular velocity loops, a new distributed control strategy with the time-varying escorting radius is proposed via backstepping technology. Under mild assumptions about the target velocity, the proposed formation controller can enforce the multi-robot to asymptotically converge on a guided circle centered on the multi-target, while maintaining a predetermined geometric formation configuration. Lyapunov analysis verity that all errors can be stabilized to origin asymptotically, and simulations proof the feasibility of the proposed control scheme.