基于行为的多机器人队形控制仿真研究  

Simulation on Behavior-based Formation Control of Multi-robot

作　　者：高强[1,2] 庞毅[2] 吕东澔[2] 

机构地区：[1]天津大学电气工程及其自动化学院,天津300072 [2]天津市复杂系统控制理论及应用重点实验室,天津理工大学自动化学院,天津300384

出　　处：《自动化与仪表》2012年第8期14-17,33,共5页Automation & Instrumentation

摘　　要：采用基于行为的控制方法,设计了多机器人队形控制的五个子行为:奔向目标、躲避障碍物、围绕障碍物、保持队形和随机扰动。在子行为设计中引入了阶梯控制区法,提高了队形控制的容错性。使用Teambots仿真平台对典型的直线队形控制进行了仿真。针对单向虚拟参照点法队形控制不稳定的情况,采用双向虚拟参考点法对控制方法进行改进,根据运行时间对改进的队形控制方法进行了评估,实验结果表明,改进的方法大幅提高了队形控制的稳定性与系统运行效率。The behavior-based formation control system was chosen to be the main research direction. Five sub-be- haviors called move-to-goal,avoid-obstaeles,swirl-obstacle,keep-formation and random-noise were designed for the formation control mission. The step control zone method was introduced,which provides high tolerance to positional uncertainty. Using Teambots simulation system,line formation control was simulated. Aiming at the line-formation,sin- gle virtual referenced point method and double virtual referenced point method were used,and double virtual refer- enced point method performs better. Simulation experiments indicate the feasibility and validity of the control strategy.

关 键 词：基于行为法 队形控制 多机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]