基于相邻矩阵的多机器人编队容错控制  

Fault tolerance of multi-robot formation based on adjacency matrix

作　　者：石桂芬[1] 方华京[1] 

机构地区：[1]华中科技大学控制科学与工程系,湖北武汉430074

出　　处：《华中科技大学学报（自然科学版）》2005年第3期39-42,共4页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目 (6 0 2 74 0 14 ) .

摘　　要：针对基于leader follower模式的多机器人编队运动中可能出现的机械故障和网络故障 ,提出了一种基于相邻矩阵的容错控制方法 .利用相邻矩阵表示编队中多机器人的相互位置关系 ,一旦在编队运动过程中出现故障 ,则利用调整队形搜索算法找到需要进行队形调整的机器人编号 .根据相邻矩阵更新算法 ,这些编号所代表的机器人的相邻关系在相邻矩阵中得以调整 .新的理想编队所对应的相邻矩阵产生 ,编队队形就可以依赖相邻矩阵重新得以恢复 ,从而实现多机器人编队的容错控制 .仿真实验证明了该方案的有效性和可行性 .A method based on adjacency matrix was presented. The fault tolerant formation could be obtained by this method. The adjacency matrix was used to describe the relationship of robots′ position in formation. By formation configuration search algorithm, the numbers of the robots whose positions will be configured can be found when there were some faults in the formation. According to the updating Matrix Algorithm, the new adjacency relationship of the robots represented by these numbers can be changed in the adjacency matrix. The new adjacency matrix based on the ideal formation sets up. By adjacency matrix, multi robot formation could resume. It is the way to realize fault tolerant control for multi robot formation. The feasibility of all algorithms has been verified by simulation.

关 键 词：多机器人 编队控制 容错控制 搜索算法 相邻矩阵 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]