受速度约束的机器人群体在含障碍物的梯形虚拟管道内的分布式控制
Distributed Control within a Trapezoid Virtual Tube Containing Obstacles for Robotic Swarms Subject to Speed Constraints
AI总结：
本文将梯形虚拟管道扩展至含静态障碍物且受严格速度约束的场景，提出分布式群体控制器与避障切换逻辑，并经形式化证明、数值仿真和真实实验验证了其有效性。
摘要：
在我们之前的工作中，我们设计了一个梯形虚拟管道来引导机器人群体通过狭窄开口。本文将梯形虚拟管道的应用扩展到内部存在静态障碍物且机器人有严格速度约束的情况。我们首先为无障碍物的梯形虚拟管道提出了一种分布式群体控制器，并给出了梯形虚拟管道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道划分为若干无障碍物的子梯形虚拟管道，提出了一种用于避障的切换逻辑。我们给出了形式化分析和证明，以表明所有机器人都能安全通过梯形虚拟管道。此外，我们通过数值仿真和真实实验验证了所提方法的有效性。
英文摘要：
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.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
