基于声纳融合的障碍环境编队控制实现  

Realization of Formation Control Among Obstacles Based on Sonar Fusion

作　　者：王聪颖[1] 何衍 

机构地区：[1]浙江大学电气工程学院,杭州310027

出　　处：《计算机工程》2010年第20期185-187,190,共4页Computer Engineering

基　　金：国家自然科学基金资助项目"面向任务的多机器人柔性编队研究"(60675055);浙江省科技计划基金资助面上项目"动态环境下的多机器人协调控制系统"(2008C21094)

摘　　要：传统的编队方法在进行避障时会发生队形改变,不能满足联合搬运等对队形精度要求高的应用场合。针对该问题,提出一种将整个编队看作一个虚拟个体的运动规划策略。理论分析和实验结果表明,该方法可以有效消除避障过程中的轨迹抖动,提高队形保持的精度,解决避障与队形保持之间的矛盾。In order to avoid the obstacles in the surrounding environment,some changes of formation style should be applied on the traditional-controlled formation.Those changes of formation can not satisfy those situations in which high degree of accuracy is required,like joint transportation.This paper introduces a strategy of rigid-formation control which regards the whole formation as a virtual unity.Theoretical analysis and experimental results show that this strategy can successfully smooth the track during avoiding obstacles,increase the degree of formation-maintain accuracy,and solve the contradiction between avoiding obstacles and keeping formation.

关 键 词：多机器人 编队 领队跟踪法 信息融合 避障 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]