动态环境下的多机器人编队控制方法的研究  

Research on Controlling Method of Multi-Robot Formation under Dynamic Environment

作　　者：付帅[1] 

机构地区：[1]东北师范大学人文学院,吉林长春130117

出　　处：《计算机仿真》2014年第12期384-387,共4页Computer Simulation

基　　金：吉林省教育厅"十二五"科技技术研究项目(吉教科合字[2014]第634号)

摘　　要：多机器人编队控制是研究机器人协调合作问题的基础。在诸多的编队方法中,传统人工势场法以其算法简单,易于实现等特点被广泛应用于机器人避障。但上述方法无法适应动态未知环境,并且存在着局部极小问题,为解决上述问题,提出一种改进的人工协调场方法,即在排斥力的垂直方向增加一个协调力,从而消除零势能点,克服局部极小。同时与领航—跟随法结合,将编队信息预先存储在领航机器人中,通过队伍行进中领航者所发出的位置信息,跟随者保持队形,不仅可以达到灵活躲避动态障碍物,同时可以保持队形稳定。最终在TEAMBOTS平台上进行了仿真,结果证明了改进方法的有效性,实现了动态环境中的多机器人编队的灵活控制。Multi - robots formation control is the foundation of coordination and cooperation of robot problem. In the paper an method based on artificial coordinating field（ACF） was proposed, which overcomes the problem of local minima through adding coordination in the repulsive force of vertical direction. In addition, the method of Pilot - Fol- lowing was improved. Formation information was pre - stored in the pilot robot. Through the position information sent by pilot robot during the procession, follower can keep rank, which not only achieves a flexible avoidance of dynamic obstacle and, but keep the rank stable and finally simulations can be carried out with simulation system of TEAM- BOTS. Experimental results validate the availability and the effectiveness of the method, and achieve the flexible con- trol of formation of multi - robots in dynamic environment.

关 键 词：动态障碍物 改进人工协调场 局部极小问题 

分 类 号：TP39[自动化与计算机技术—计算机应用技术]