Abstract: This paper studied how to achieve the diversity, stability and continuity of formation change for mobile robots，and solved the problem of obstacle and collision avoidance for the robot formation to reach the destination. The basic formation was analyzed and the idea of formation parameterization was presented. Parametric mathematical model was established for the virtual structure of basic formation. Formation alternated between basic formation and derivative formation by adjusting the parameters. Robot motion can be controlled by using behavior fusion method, follow pilot method, artificial potential field method and virtual structure method. The simulation and experimental results show that this strategy not only retains the advantage of stability and rapid formation of virtual structure method but also improves flexibility.

Key words: robot formation, formation parametric, motion control, strategy, research

摘要： 为实现移动机器人编队的多样性、稳定性和队形变换连续性，并解决移动机器人编队运动中的避障、避碰、到达目标的问题，对基本队形进行分析，提出队形参数化的思路，建立基本队形虚结构的参数化数学模型，通过调整参数使队形在基本队形及其衍生的队形间进行变换；机器人在运行的过程中，利用行为融合方法、跟随领航者法、人工势场法和虚结构法对机器人进行运动控制，实现了机器人的避障、避碰、队形归建等目标。对上述策略进行了仿真实验，实验结果表明，使用本策略既保留了虚结构法队形稳定、队形归建迅速的优点，又改进了其灵活性差的不足。

关键词: 机器人编队, 队形参数化, 运动控制, 策略, 研究