基于简化虚拟受力模型的未知复杂环境下群机器人围捕  

Hunting in Unknown Complex Environments by Swarm Robots Based on Simplified Virtual-Force Model

作　　者：张红强[1,2] 章兢[1] 周少武[2] 曾照福[2] 吴亮红[2] 

机构地区：[1]湖南大学电气与信息工程学院,湖南长沙410082 [2]湖南科技大学信息与电气工程学院,湖南湘潭411201

出　　处：《电子学报》2015年第4期665-674,共10页Acta Electronica Sinica

基　　金：国家自然科学基金(No.61174140;No.51374107;No.61203016;No.61174050);国家自然科学青年基金(No.61203309);湖南省自然科学基金(No.13JJ8014);湖南省教育厅优秀青年项目(No.12B043);博士点基金(No.20110161110035);国家科技支撑计划(No.2012BAH09B02)

摘　　要：针对未知非凸和凸以及动态障碍物环境下群机器人围捕,提出了一种基于简化虚拟受力模型的循障和围捕方法.首先给出了目标和动态障碍物的运动模型.然后通过对复杂环境下围捕行为的分解,抽象出简化虚拟受力模型.基于此模型,设计了个体循障和围捕方法,接着证明了系统的稳定性并给出了参数设置范围.仿真结果表明,本文围捕方法可以使群机器人在未知复杂环境下保持较好的围捕队形,并具有良好的避障性能和灵活性,同时分析了与基于松散偏好规则的围捕方法相比的优势.In this paper,a method based on a simplified virtual-force model is proposed for swarm robots hunting in unknown non-convex, convex and dynamic obstacles environments. First, the motion models for the hunting target and dynamic obstacles are presented. Then through the decomposition of hunting behaviors under complicated environments, a simplified virtual-force model is fomaed. Based on the model,the control method is designed for swarm robots following motions of barriers and the hunting target; the stability of the hunting system is analyzed and the control parameter ranges are given. Simulation results demonstrate that the proposed method can maintain a good hunting formation and has good performance of obstacles avoidance and flexibility. Finally, advantages of this method are presented,compared with the hunting method based on loose preference rule.

关 键 词：移动机器人 群机器人 非凸障碍物 简化虚拟受力模型 避碰 队形保持 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]