摘要：

传统的编队方法在进行避障时会发生队形改变，不能满足联合搬运等对队形精度要求高的应用场合。针对该问题，提出一种将整个编队看作一个虚拟个体的运动规划策略。理论分析和实验结果表明，该方法可以有效消除避障过程中的轨迹抖动，提高队形保持的精度，解决避障与队形保持之间的矛盾。

关键词: 多机器人, 编队, 领队跟踪法, 信息融合, 避障

Abstract:

In order to avoid the obstacles in the surrounding environment, some changes of formation style should be applied on the traditional-controlled formation. Those changes of formation can not satisfy those situations in which high degree of accuracy is required, like joint transportation. This paper introduces a strategy of rigid-formation control which regards the whole formation as a virtual unity. Theoretical analysis and experimental results show that this strategy can successfully smooth the track during avoiding obstacles, increase the degree of formation-maintain accuracy, and solve the contradiction between avoiding obstacles and keeping formation.

Key words: multiple robots, formation, leader-referenced, information fusion, obstacle avoidance

中图分类号: 

• TP391