SUMMARYThis paper addresses the motion planning and control problem of a system of 1-trailer robots navigating a dynamic environment cluttered with obstacles including a swarm of boids. A set of nonlinear continuous control laws is proposed via the Lyapunov-based Control Scheme for collision, obstacle, and swarm avoidances. Additionally, a leader–follower strategy is utilized to allow the flock to split and rejoin when approaching obstacles. The effectiveness of the control laws is demonstrated through numerical simulations, which show the split and rejoin maneuvers by the flock when avoiding obstacles while the swarm exhibits emergent behaviors.

中文翻译：

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群体避让单拖车机器人群的运动控制

摘要本文解决了单拖车机器人系统的运动规划和控制问题，该系统在充满障碍物的动态环境中导航，其中包括一群机器人。通过基于李雅普诺夫的控制方案提出了一组非线性连续控制律，用于碰撞、障碍物和群体避让。此外，利用领导者 - 跟随者策略允许羊群在接近障碍物时分裂和重新加入。通过数值模拟证明了控制律的有效性，显示了群体在避开障碍物时的分裂和重新加入机动，而群体表现出紧急行为。