多机器人协同控制与编队方法研究  

Research on Multi-robot Cooperative Control and Formation Method

作　　者：王文明[1] 周帅[1] 

机构地区：[1]北京理工大学计算机学院,北京100081

出　　处：《信息网络安全》2014年第6期59-66,共8页Netinfo Security

基　　金：科技部科技创新基金[12C26213603779]

摘　　要：随着多机器人系统的研究和发展,其协同控制问题成为核心研究问题。文章针对多机器人编队问题进行了研究,目的是探索一种通用、有效的编队控制领域的研究策略和研究方法,并给出了一种编队控制方法,通过仿真实验对控制算法的可行性及稳定性进行了研究和验证,在多机器人环境下完成了实体机器人实验,收到良好效果。With the development and application of multi robot system, the cooperative control problem has become a core issue in the research .Multi robot formation problems are studied, the purpose is to explore a kind of general, effective research strategies and methods in formation control ifeld . This paper presented a formation control method, and studied and veriifed feasibility and stability of control algorithm through simulation experiment. And the real robot experiment has been ifnished in multi robot environment, received good results.

关 键 词：多机器人 队形控制 仿真实验 实体实验 PLAYER STAGE Pioneer3-AT 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]