群机器人目标围捕系统设计与性能测试  

Design and Performance Test of Target Capture System for Swarm Robots

作　　者：朱建军 李冰[1] 张亚超[1] ZHU Jianjun;LI Bing;ZHANG Yachao(School of Electrical Engineering,Zhengzhou University of Science and Technology,Zhengzhou 450064,China)

机构地区：[1]郑州科技学院电气工程学院,郑州450064

出　　处：《实验室研究与探索》2020年第3期67-71,共5页Research and Exploration In Laboratory

基　　金：2017年度河南省科技厅科技攻关项目(172102210114);2018年度河南省科技厅科技计划项目(182102210137)。

摘　　要：提出了利用4辆性能一致的飞思卡尔智能小车组成智能微群系统,其中3辆进行围捕任务,1辆作为入侵机器人。在笛卡尔坐标系下建立半径为4 m的圆,3辆智能小车组成一个内切于圆的等边三角形。然后通过3条不同的入侵轨迹以及不同的围捕距离完成了对入侵机器人的围捕测试。实验验证了4辆小车都能在程序的控制下完成指定动作,并能够完成对目标3种不同路径的围捕,围捕率超过70%,对今后群体机器人的研究与发展具有参考价值。An intelligent micro rounding up system is proposed,the system is composed of four Freescale intelligent cars with the same performance.Three of them are used for the task of encircling and one is used as the intrusion robot.A circle with a radius of 4 meters is established in Cartesian coordinate system.Three intelligent cars form an equilateral triangle which is inscribed on the circle.Then through three different intrusion trajectories and different capture distances,the capture test of the intrusion robot is completed.Experiments show that all the four vehicles can complete the designated actions under the control of the program,and can complete the three different paths of the target.The capture rate is more than 70%,which is of great significance to the research and development of group robots in the future.

关 键 词：智能小车 围捕系统 群目标 

分 类 号：TH[机械工程]