一种多机器人编队行进控制算法  

A Control Algorithms of Multi-Robot Formation Travel

作　　者：杨凤滨 于大庆 任丽莉[2] 康冰[3] YANG Feng-bin;YU Da-qing;REN Li-li;KANG Bing(Petrochina Liaoyang Petrochemical Company,Liaoyang 111003,China;Changchun Normal University,Changchun 130032,China;College of Communication Engineering,Jilin University,Changchun 130022,China)

机构地区：[1]中国石油辽阳石化公司,辽宁辽阳111003 [2]长春师范大学,吉林长春130032 [3]吉林大学通信工程学院,吉林长春130022

出　　处：《长春师范大学学报》2020年第8期50-53,共4页Journal of Changchun Normal University

摘　　要：当前多机器人协作已成为热点问题,场馆内只由单一机器人提供服务已经难以满足人们的需求,亟需一种实际可行的控制算法。本文提出了一种新的机器人链式编队算法,该算法引入了SLAM算法,通过主从式协同控制方法,利用微粒群模型算法提出了一种新的编队模式,结合机器人的定位导航,实现了多机器人协同、编队以及行进等问题,仿真结果证明了其有效性。At present,multi-robot cooperation has become a hot issue.It is difficult to meet people's needs by providing services only by a single robot in venues,and a practical control algorithm is urgently needed.In this paper,a new robot chain formation algorithm is proposed.SLAM algorithm is introduced into the algorithm.A new formation mode is proposed by using the particle swarm optimization algorithm and the master-slave cooperative control method.Combined with the positioning and navigation of the robot,the problems of multi robot cooperation,formation and marching are realized.The simulation results show its effectiveness.

关 键 词：编队 协同 定位 导航 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]