基于分解策略的多机器人编队控制方法  

Formation control for multiple robots based on a strategy of decomposition

作　　者：孟宪松[1] 徐宏根[1] 张铭钧[1] 刘建华[1] 

机构地区：[1]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2006年第2期276-280,共5页Journal of Harbin Engineering University

基　　金：黑龙江省杰出青年科学基金资助项目(2005F030605)

摘　　要：根据多机器人在不确定环境中编队智能行进控制的要求,以多移动机器人为对象,提出了一种基于分解策略的多机器人编队控制方法,将复杂的多机器人编队问题分解为若干组2个机器人之间的协调问题.建立了多机器人编队的基本队形模型,提出了基于主从方式的多机器人控制策略,根据基于行为的方法设计了机器人的基本子行为,通过带权值的各子行为的叠加合成得到机器人的最终行为,给出了机器人的速度调节方案.计算机仿真结果验证了该方法的有效性和可行性,具有较好的可扩展性.An approach to formation control based on a strategy of decomposition is proposed in order for a formation of multiple mobile robots to march forward intelligently in an unknown environment. The complicated problem of multiple robot formation was decomposed into basic problems of coordination between two robots. A basic formation model of rnultiple robots was built and a control strategy of master-slaved for the formation of multiple robots was proud. Design factored in a behavior-based approach for multiple robots. The final behavior was obtained from the synthesis of all behaviors with a coefficient, A control method for velocities of robots was also proposed. Computerized simulation results show that the approach is effective, feasible, and extendable.

关 键 词：多机器人 队形分解 编队协调 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]