群机器人围捕多个入侵者的人工力矩方法  

Artificial Moment Method for Swarm Robots to Hunt Multiple Invaders

作　　者：徐望宝[1] 祝超超 荣根熙 XU Wang-bao;ZHU Chao-chao;Rong Gen-xi(School of Electronic and Information Engineering,University of Science and Technology Liaoning,Anshan 114051,China)

机构地区：[1]辽宁科技大学电子与信息工程学院,辽宁鞍山114051

出　　处：《控制工程》2021年第1期99-105,共7页Control Engineering of China

基　　金：辽宁省自然科学基金项目(2019-ZD-0026,20180550470);辽宁科技大学专项科研基金项目(2017RC04,2018TD04)。

摘　　要：群机器人协作围捕多个入侵者的问题是一个富有理论和工程应用价值的问题。针对这一问题提出了一种基于人工力矩的自组织围捕方法。首先基于同盟、围捕曲线等概念给出了围捕机器人基于局部信息计算与调整吸引点的方法,来引导围捕机器人在向入侵者的运动过程中快速地形成理想的围捕队形。然后分别针对围捕机器人和入侵者设计了人工力矩运动控制器,以驱动围捕机器人向着各自吸引点的方向运动并最终完成围捕任务,入侵者则能向着远离围捕者的方向快速逃逸。最后对所提方法进行了仿真验证,以证明所提方法的可行性和有效性。The problem of a swarm of robots cooperating to hunt multiple invaders is of theoretical and engineering application significance.For this problem,a self-organizednew artificial moment method is proposed in this paper,based on the artificial moments.Firstly,based on the concepts,such as the alliances and roundup curves,a method for hunters to compute and adjust their attractive points is presented,by using local available information.As such,the hunters can be guided to move toward the invaders and roundup formations can be built quickly.Secondly,two artificial moment motion controllers are designed for hunters and invaders respectively,which can make the hunters move toward their attractive points gradually so that their tasks can be accomplished.Invaders,however,can be driven by the motion controller to move away from the hunters to avoid being hunted.Finally,two simulations are given,results of which demonstrate the feasibility and effectiveness of the proposed approach.

关 键 词：群机器人系统 自组织系统 协作围捕 人工力矩方法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]