arXiv 2505.095112025-05-14cs.ROcs.MAcs.SYeess.SY

辅助人类操作员飞行机器人飞艇集群的编队控制系统设计

Design of a Formation Control System to Assist Human Operators in Flying a Swarm of Robotic Blimps

Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology（香港科技大学电子与计算机工程系）；School of Software Engineering, Beijing Jiaotong University（北京交通大学软件学院）；Department of Electronic Engineering, Sunchon National University（全州国立大学电子工程系）；Department of Computer Science, Emory University（埃默里大学计算机科学系）

Tianfu Wu, Jiaqi Fu, Wugang Meng, Sungjin Cho, Huanzhe Zhan, Fumin Zhang

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AI总结：

针对室内机器人飞艇集群，本文设计带动态领航者切换的领航者—跟随者编队控制系统，由人工仅控制领航者、跟随者依靠机载视觉与激光高度计自主定位，实验证明其能在急转弯等场景中稳定编队并减轻操作负担。

摘要：

编队控制对于集群机器人技术至关重要，可使其在复杂环境中实现协调行为。本文介绍了一种用于室内飞艇集群的新型编队控制系统，该系统采用经过专门设计的领航者—跟随者方法，并通过动态领航者切换机制加以增强。该策略允许任意飞艇承担领航者角色，将机动需求分配到整个集群中，从而提升整体编队稳定性。只有领航者飞艇由人类操作员手动控制，而跟随者飞艇则使用机载单目相机和激光高度计来估计相对位置和高度。文中提出了一种领航者切换方案，以辅助人类操作员维持集群的稳定性，尤其是在执行急转弯时。实验结果证实，领航者切换机制能够有效维持稳定的编队，并在辅助人类操作员的同时适应动态室内环境。

英文摘要：

Formation control is essential for swarm robotics, enabling coordinated behavior in complex environments. In this paper, we introduce a novel formation control system for an indoor blimp swarm using a specialized leader-follower approach enhanced with a dynamic leader-switching mechanism. This strategy allows any blimp to take on the leader role, distributing maneuvering demands across the swarm and enhancing overall formation stability. Only the leader blimp is manually controlled by a human operator, while follower blimps use onboard monocular cameras and a laser altimeter for relative position and altitude estimation. A leader-switching scheme is proposed to assist the human operator to maintain stability of the swarm, especially when a sharp turn is performed. Experimental results confirm that the leader-switching mechanism effectively maintains stable formations and adapts to dynamic indoor environments while assisting human operator.

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