不确定环境下多机器人编队控制研究  

Research on multi-robot formation control in uncertain environment

作　　者：吴军成 肖宇峰[1] 霍建文[1] Wu Juncheng;Xiao Yufeng;Huo Jianwen(Robot Technology Used for Special Environment Key Laboratory of Sichuan Province,Southwest University of Science&Technology,Mianyang Sichuan 621010,China)

机构地区：[1]西南科技大学特殊环境机器人技术四川省重点实验室,四川绵阳621010

出　　处：《计算机应用研究》2021年第4期1123-1127,共5页Application Research of Computers

基　　金：国家“十三五”核能开发科研项目([2016]1295);国家自然科学基金资助项目(61703126);国家重点研发资助项目(2019YFB1310800)。

摘　　要：针对多机器人在不确定环境下难以保持某种队形到达预定目标等问题,提出了一种无须全局坐标的多机器人编队控制算法。该算法通过Reynolds类鸟群模拟方法设计了“分离”“对齐”“队形”三规则的控制器来实现多机器人任意队形保持控制,并增加切换规则来实现多机器人队形变换。在不同场景及复杂环境下进行仿真实验,验证了提出方法的优越性。该算法能够使多机器人在不确定环境下保持队形到达目标,对于救援、救灾下多机器人的运用具有重要意义。Aiming at problems such as difficulty for multi-robots in arriving at an intended target by keeping certain formation in uncertain environments,this paper proposed a multi-robot formation control algorithm in no need of world coordinates.This algorithm realized control of multi-robots in any formation with the controller of three rules of“separation”“aligning”and“formation”designed according to Reynolds boids analogy method,and added switch rules to realize changes in multi-robot formations.Simulation experiments in different scenarios and complex environments verify the superiority of the proposed method.This algorithm can enable multi-robots to maintain their formation in uncertain environment to reach the target,which is of great significance for the application of multi-robots in rescue and disaster relief.

关 键 词：多机器人 不确定环境 任意队形保持 队形变换 控制器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]