针对多机器人追捕死角问题的自适应编队算法  

Adaptive Formation Algorithm for Multi-robot Tracking Blind Angle Problem

作　　者：张永[1] 陈寿元[1] 邵增珍[1] ZHANG Yong;CHEN Shouyuan;SHAO Zengzhen(School of Information Science and Engineering,Shandong Normal University,Jinan 250300,China)

机构地区：[1]山东师范大学信息科学与工程学院,济南250300

出　　处：《计算机工程》2018年第9期1-8,共8页Computer Engineering

基　　金：中国博士后科学基金(2016M592697);山东省重点研发计划项目(2014GGH201022)

摘　　要：多机器人刚性编队无法灵活调整队形,易出现追捕死角现象,导致追捕者无法准确高效地完成追捕。为此,提出一种自适应刚性结构编队算法。构造编队中心控制器使编队中心无限趋近目标,设计队形控制器随目标所处位置动态调整队形。在此基础上,追捕者根据目标所在位置和环境条件,结合改进的刚性结构法自适应地选择合适队形,从而完成围捕。仿真结果表明,相对刚性编队算法,该算法的追捕时间和能耗比均较低,且能够避免追捕死角现象产生。Rigid formation of multi-robot can not flexibly adjust formation,leading to the phenomenon of chasing blind angle easily,so that the pursuers can not accurately and efficiently complete the chase.To solve this problem,an adaptive rigid structural formation algorithm is proposed.The formation center controller makes the formation center infinitely close to the target.The formation controller is designed to dynamically adjust the formation according to the location of the target.On this basis,the tracker,in accordance with the position of the target and the environmental conditions,combined with the improved rigid structure method to choose the appropriate formation adaptively,so as to complete hunting.Simulation results show that,the tracking time and energy consumption ratio of the algorithm are lower than that of the rigid formation algorithm,and the hunting blind angle can be avoided.

关 键 词：多机器人 自适应刚性结构 协作围捕 死角 阿波罗尼奥斯圆 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]