Formation control method of distributed multi-mobile robot based on nash iteration
A mobile robot and control method technology, applied in two-dimensional position/channel control and other directions, to achieve good anti-disturbance ability, reduce the amount of calculation and communication.
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[0029] The present invention will be further described below in conjunction with the accompanying drawings.
[0030] refer to figure 1 , a distributed multi-mobile robot formation control method based on Nash iteration, including the following steps:
[0031] 1) Modeling the mobile robot: refer to figure 1 , taking the three-wheeled mobile robot as the object, the continuous system deviation model of a single mobile robot i is:
[0032]
[0033]
[0034] Among them, (x e,i ,y e,i ,α e,i ) represents the orientation deviation of the mobile robot i relative to the virtual mobile robot i, including the deviation x on the x and y axes e,i ,y e,i and the angular deviation α of the running line speed e,i , the virtual mobile robot is a hypothetical mobile robot running on the reference trajectory according to the set running state, assuming that the virtual mobile robot i is near the tracking point P, and the curvature at point P is k P,i , k(s i) is the curvature of ...
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