论文标题
梯形虚拟管中的分布式控制，该管子包含受速度约束的机器人群的障碍物
Distributed Control within a Trapezoid Virtual Tube Containing Obstacles for Robotic Swarms Subject to Speed Constraints
论文作者
论文摘要
在我们以前的工作中，我们设计了梯形虚拟管，以通过狭窄的开口引导机器人群。本文将梯形虚拟管的应用扩展到内部存在静态障碍的情况，机器人具有严格的速度约束。我们首先为梯形虚拟管提出了一个分布式的群体控制器，没有障碍，并呈现梯形虚拟管与速度约束之间的关系。然后，通过将包含静态障碍物的梯形虚拟管划分为没有障碍物的几个子梯形虚拟管，提出了避免障碍物的开关逻辑。提出了正式的分析和证明，以证明所有机器人都可以安全地通过梯形虚拟管。此外，我们通过数值模拟和实际实验来验证方法的有效性。
In our previous work, we design a trapezoid virtual tube to guide robotic swarms through narrow openings. This paper extends the application of the trapezoid virtual tube to the situations where there are static obstacles inside and robots have strict speed constraints. We first propose a distributed swarm controller for the trapezoid virtual tube without obstacles and present the relationship between the trapezoid virtual tube and speed constraints. Then a switching logic for obstacle avoidance is proposed by dividing the trapezoid virtual tube containing static obstacles into several sub trapezoid virtual tubes without obstacles. Formal analyses and proofs are presented to demonstrate that all robots can pass through the trapezoid virtual tube safely. Besides, we validate the effectiveness of our method through numerical simulations and real experiments.
