论文标题
指导矢量场，用于移动机器人的分布式运动协调
Guiding vector fields for the distributed motion coordination of mobile robots
论文作者
论文摘要
我们建议协调指导矢量字段，以与机器人团队同时完成两个任务：首先，多个机器人的指导和导航可能会嵌入2D或3D中的可能不同的路径或表面；其次，他们的运动协调在跟踪他们的规定路径或表面时。运动配位是由路径或表面上的机器人之间所需的参数位移定义的。通过控制对应于导向矢量场之间的路径或表面参数的虚拟坐标来实现这种所需的位移。 由动态系统理论和Lyapunov理论支撑的严格数学保证是为机器人从所有初始位置上从路径或表面上的有效分布式运动协调和导航提供的。作为实用机器人应用的一个例子，我们从所提出的具有驱动饱和度的类似Dubins-car的模型的指南指导矢量场中得出了对照算法。 我们提出的算法分布并可扩展到任意数量的机器人。此外，广泛的说明性模拟和固定翼飞机户外实验验证了我们算法的有效性和鲁棒性。
We propose coordinating guiding vector fields to achieve two tasks simultaneously with a team of robots: first, the guidance and navigation of multiple robots to possibly different paths or surfaces typically embedded in 2D or 3D; second, their motion coordination while tracking their prescribed paths or surfaces. The motion coordination is defined by desired parametric displacements between robots on the path or surface. Such a desired displacement is achieved by controlling the virtual coordinates, which correspond to the path or surface's parameters, between guiding vector fields. Rigorous mathematical guarantees underpinned by dynamical systems theory and Lyapunov theory are provided for the effective distributed motion coordination and navigation of robots on paths or surfaces from all initial positions. As an example for practical robotic applications, we derive a control algorithm from the proposed coordinating guiding vector fields for a Dubins-car-like model with actuation saturation. Our proposed algorithm is distributed and scalable to an arbitrary number of robots. Furthermore, extensive illustrative simulations and fixed-wing aircraft outdoor experiments validate the effectiveness and robustness of our algorithm.
