基于方位信息的轮式机器人动态编队控制

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中图分类号：TP242 文献标志码：A 文章编号：1000-582X（2025）04-084-13

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

引用格式：，等.基于方位信息的轮式机器人动态编队控制[J].重庆大学学报，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

随着机器人被应用于各个领域，多智能体协同控制引起了广泛关注。（剩余9045字）