融合沿墙行为的多移动机器人有序化多模态群集运动控制  

Multi-mode sequential flocking strategy integrating wall-following behavior for motion control of multiple mobile robots

作　　者：程磊[1,2] 朱全民 吴怀宇[1] 王永骥[3] 方华京[3] 

机构地区：[1]武汉科技大学冶金自动化与检测技术教育部工程研究中心,武汉430081 [2]西英格兰大学计算、工程与数学科学学院,布黾斯托尔BS161QY [3]华中科技大学控制科学与工程系,武汉430074

出　　处：《控制与决策》2011年第3期477-480,共4页Control and Decision

基　　金：国家自然科学基金项目(60705035,50675161);武汉市青年科技晨光计划项目(200950431200);湖北省高校产学研合作重点项目(CXY2009B006);湖北省教育厅科研优秀中青年项目(Q20091103).

摘　　要：一类基于势场原理的群集控制理论正逐步应用于多agent(智能体)/机器人稳定协同运动中.针对群集运动系统在非规则障碍物环境中运行时易出现的局部极小问题,引入基于行为的机器人学理念,构成多移动机器人多模态群集控制系统.在此框架内,仿生的动物沿端行为与有序化群集运动控制策略相融合,实现了多移动机器人系统快速聚合行为与高效避障行为的统一.移动机器人仿真实验验证了该方法的有效性.Hocking control is gradually attended to coordinates the motions among multiple agents or robots stably based on potential principles. To provide a generic and efficient solution to the local minimum problem encountered within various flocking systems in unexpected and irregular obstacle environment, a design of a multi-model flocking control for multiple mobile robots in terms of behavior-based robotics is presented. Within this framework, animal-imitating wall-following behavior modes are integrated with the new sequential flocking strategy. In this way, the unity of stable aggregation in flocking and efficient obstacle avoidance motion can be efficiently and simultaneously achieved. The simulation studies are comprehensively conducted to show the effectiveness of the proposed method.

关 键 词：多移动机器人 群集运动控制 多模态 有序化群集运动 沿墙行为 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]