该文采用领导－跟随方式实现多机器人的编队控制。针对移动机器人模型复杂性及不确定性等因素，采用不依赖系统模型的模糊控制方法，对领导者进行路径跟踪控制。通过模糊控制器的输出实时调整线速度和角速度，使领导者能够达到并沿着给定的路径运动。同时通过设计合适的控制律使每个跟随者与领导者的相对距离和角度收敛到给定值，从而达到编队控制效果。通过数值仿真及实际的场地实验表明，该算法可有效实现多移动机器人路径跟踪及编队运动的控制。%The leader-following method is adopted in this paper to achieve formation control of multi-robot.In order to overcome the complexity and uncertainty of mobile robot model, fuzzy control which is independent of system model is chosen as the path tracking strategy for the leader robot.The velocity and angular velocity of the leader are adjusted in real time by the output of fuzzy controller, guaranteeing that the leader can reach and move along the desired path.At the same time, the appropriate control law is designed to make the relative distance and angle be-tween the leader and each follower converge to the given value, so as to achieve the desired formation control.Nu-merical simulations and actual field experiments are provided in this paper, showing the effectiveness of the control strategy in path tracking and the formation control of multiple mobile robots.
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