基于偏微分方程约束的机器人群集运动控制系统设计
2023,31(4):130-135
摘要：为充分发挥机器人群集的协作优势，克服单机器人能力不足问题，利用偏微分方程约束理论，设计机器人群集运动控制系统。扩大机器人群集间通信网络范围，改装机器人传感器、运动控制器和驱动电机设备。在硬件设备的支持下，考虑机械结构、运动与动力工作原理，建立机器人群集数学模型。分配机器人群集运动任务，利用偏微分方程规划机器人群集编队运动路径，设置规划路径作为机器人群集运动的约束条件。从位置和姿态角两个方面计算运动控制量，通过控制指令的生成与转换，实现系统的机器人群集运动控制功能。通过系统测试实验得出结论：与传统运动控制系统相比，在优化设计系统的控制下，机器人群集的运动跟踪控制误差为13cm，机器人群集运动过程中产生的碰撞次数得到明显减少，即优化设计系统具有良好的控制效果。
关键词：偏微分方程；控制约束；机器人运动；群集运动控制；
Design of robot cluster motion control system based on partial differential equation constraints
Abstract：In order to give full play to the cooperative advantages of robot clusters and overcome the problem of insufficient capacity of single robot, the cluster motion control system of robots is designed by using the constraint theory of partial differential equations. We will expand the range of communication networks between robot clusters, and refit robot sensors, motion controllers, and drive motor equipment. With the support of hardware equipment, considering the mechanical structure, motion and dynamic working principle, a mathematical model of robot cluster is established. The task of robot cluster movement is assigned, and the path of robot cluster formation movement is planned by using partial differential equation, and the planned path is set as the constraint condition of robot cluster movement. The motion control quantity is calculated from the position and attitude angle, and the cluster motion control function of the system is realized through the generation and conversion of control commands. Through the system test experiment, it is concluded that: compared with the traditional motion control system, under the control of the optimal design system, the motion tracking control error of the robot cluster is 13cm, and the number of collisions generated in the process of robot cluster movement is significantly reduced, that is, the optimal design system has a good control effect.
Key words：Partial differential equation; Control constraints; Robot movement; Cluster motion control;
收稿日期：2022-12-09
基金项目：2021年西安明德理工学院教育教学改革研究项目：线性代数实用性教学的研究与实践（JG2021YB07）
