三维空间基于角度测量的多机器人系统协同定位与编队控制

项目名称： 三维空间基于角度测量的多机器人系统协同定位与编队控制

项目编号： No.61503335

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 自动化技术、计算机技术

项目作者： 郑荣濠

作者单位： 浙江大学

项目金额： 23万元

中文摘要： 在分布式多自主机器人系统中，确定自身或目标在系统中的位置（定位）以及运动到系统中的特定位置（编队）是机器人须具备的基本能力。目前这两个基本能力的实现大多要求机器人可以测量获得其他机器人在其局部坐标系下的相对位置（角度+距离）信息。然而在大多数情况下，特别是三维空间中，角度信息容易测量而距离信息并不容易获得。本项目研究三维空间中仅基于角度测量的协调控制策略在自定位、编队控制和目标定位与围捕等典型协同任务上的应用：利用矩阵理论和代数图论研究角度测量下的可定位性和编队稳定性问题；利用持续激励理论设计分布式估计器从角度测量中获得周围机器人和目标的位置信息；并通过构建多旋翼飞行器实验平台，研究基于角度测量的控制策略在多无人机系统上的具体实现。课题预期的研究成果将为基于角度测量的协调控制分析与设计奠定必要的理论基础，相关结果在多无人机交通监管系统、应急搜救和军事领域有着广泛的应用前景。

中文关键词： 多机器人系统；角度测量；协同定位；编队控制；目标定位

英文摘要： In distributed autonomous multi-robot systems, determining the positions of themselves or the targets in the system (localization) and moving to a specific location in the system (formation control) are the basic functions of the robots. In most existing works, the ability to achieve these two basic functions requires that the robots are able to measure the relative positions, i.e., both bearing angle and distance, of other robots in their local coordinate frames. In most cases, especially in three-dimensional space, the distance information is difficult to be obtained. In this research project, we investigate cooperative control strategies based on bearing measurements in three-dimensional space and their applications in typical collaborative tasks such as cooperative localization, formation control , and target localization and enclosing. We plan to use matrix theory and algebraic graph theory to solve the localizability problem and formation stability problem with bearing measurement, to use the persistent excitation theory to design distributed estimators to locate neighboring robots and target with bearing measurements. In addition, we plan to build a multi-rotor experimental platform to study the performance of the developed bearing-based control strategies on real multi-UAV systems. The expected results will provide useful theoretical tools for analysis and design of bearing-based cooperative control strategies, and have a wide range of applications from traffic monitoring, emergency rescue to military operations of the multi-UAV systems.

英文关键词： Multi-robot systems;Bearing measurements;Cooperative localization;Formation control;Target localization