中文摘要：

针对两轮式移动机器人在复杂环境下的编队控制问题，提出一种基于虚构领航法和反步法，并结合人工势场法策略的多机器人避障编队算法。首先，详细分析多机器人系统在三维空间下的编队模型，并利用空间投影方法将其映射到二维平面进行分析。其次，将运动学模型转化为链式形式，并通过正则坐标变换,将误差系统形式转换成串联非线性系统。然后运用Backstepping方法构造轮式机器人追踪系统的Lyapunov函数，设计出针对轮式机器人的轨迹跟踪控制器。再结合人工势场法避障策略，完成多机器人复杂环境下的编队任务。最后，通过多机器人轨迹跟踪的两组仿真实验，验证了所提出方法的有效性。

英文摘要：

In view of the existing problems in the formation of dual-wheeled mobile robots under threedimensional environment,an obstacle avoidance multi-robot formation algorithm,based on methods of fictitious navigation and backstepping,and combined with the artificial potential field method,has thus been proposed.First,an analysis has been made of the formation model of the multi-robot system in three-dimensional environment,followed by an analysis of the spatial projection of the model onto a two-dimensional plane.Second,the kinematics model will be transformed into a chained form,where the error system will be transformed into a series nonlinear system through a canonical coordinate transformation.Third,Lyapunov function of the wheeled robot tracking system will be constructed by using backstepping method and a design of the trajectory tracking controller for wheeled robots will be obtained.The multi-robot formation in complicated environments,combined with the artificial potential field obstacle avoidance strategy,will be accomplished.Finally,the effectiveness of the proposed method will be verified by two groups of simulation experiments of multi-robot trajectory tracking.