移动机器人编队自修复的切换拓扑控制  

Switched topology control for self-healing of mobile robot formation

作　　者：张飞[1] 陈卫东[1] 

机构地区：[1]上海交通大学自动化系,上海200240

出　　处：《控制理论与应用》2010年第3期289-295,共7页Control Theory & Applications

基　　金：国家"863"计划资助项目(2006AA040203;2007AA04z340);国家自然科学基金资助项目(60775062);新世纪优秀人才支持计划资助项目(NCET–07–0538)

摘　　要：针对机器人缺失后的移动机器人编队自修复问题,构建了结合切换拓扑和交互动力模型的移动机器人编队模型,通过分析机器人缺失后的拓扑变化情况,提出了网络切换拓扑控制,该算法利用递归实现自修复,并且是收敛的.通过设计相应的分布式算法,本文将拓扑控制转化为基于局部交互的递归自修复个体控制,证明了编队自修复个体控制的稳定性.最后针对编队任务,通过仿真验证了切换拓扑控制的有效性,和其他方法比较具有低恢复时间和低功率消耗的优点.To solve the self-healing problem of mobile robot formation with failed robots, a formation model combining switched topologies and an interaction dynamics model for mobile robot is established. Based on the analysis of the network topology with failed robots, we propose a switched topology control using local roles. Furthermore, considering the distributed information obtained by individual robots, we transform the topology control into an individual control for recursive self-healing with local interactions. The stability of the system with the individual control is also proved. Simulation results demonstrate the validity of the switched topology control, and show that the proposed control method has the advantages of shorter recovery time and lower power consumption over previous methods.

关 键 词：移动机器人 编队 网络 自修复 切换拓扑 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]