白介素调节的多机器人队形免疫网络控制算法  

MULTI-ROBOT FORMATION CONTROL ALGORITHM BASED ON IMMUNE NETWORK REGULATED BY INTERLEUKIN

作　　者：袁明新[1,3] 黄艇 曹荣祥 张人杰[3] 申燚 Yuan Mingxin;Huang Ting;Cao Rongxiang;Zhang Renjie;Shen Yi(School of Mechanical Engineering,Jiangsu University of Science and Technology,Zhenjiang 212003,Jiangsu,China;Robot Product Division,Jiangsu Automation Research Institute,Lianyungang 222002,Jiangsu,China;Institute of Intelligent Equipment,Zhangjiagang Industrial Technology Research Institute,Jiangsu University of Science and Technology,Zhangjiagang 215600,Jiangsu,China)

机构地区：[1]江苏科技大学机械工程学院,江苏镇江212003 [2]江苏自动化研究所机器人事业部,江苏连云港222002 [3]张家港江苏科技大学产业技术研究院智能装备研究所,江苏张家港215600

出　　处：《计算机应用与软件》2022年第9期269-273,297,共6页Computer Applications and Software

基　　金：国家自然科学基金项目(61105071);张家港市产学研预研资金项目(2018zjgcxy026)。

摘　　要：为了提高多机器人队形控制精度和效率,尤其是偏离预定轨道时的纠正能力,提出一种白介素调节的多机器人队形免疫网络控制算法。将机器人的速度和期望队形重心分别作为抗体和抗原,借鉴Jerne的独特型免疫网络假设,通过抗体和抗原的刺激和抑制来构建队形控制免疫协作网络;在白介素免疫调节机理启发下,定义白介素调节因子来解决机器人轨道偏离时的纠正难题;通过抗体激励值自适应选择速度完成队形控制。4种不同环境下的数值测试表明,与其他算法相比,白介素免疫网络算法不仅能够形成规定队形,而且队形形成所需时间平均减少73%,平均位移减少60%,且平均偏差角度逼近于0。仿真平台下的干扰测试结果也进一步验证了该算法的有效性和优越性。In order to improve accuracy and efficiency of multi-robot formation control,especially the ability to correct when it deviates from a predetermined trajectory,a new immune network algorithm for multi-robot formation control based on interleukin regulation is proposed.The speed of each robot and the gravity center of the multi-robot desired formation were taken as the antibodies and antigens respectively.Based on Jerne’s idiotypic immune network hypothesis,the formation control immune cooperation network was stimulated and inhibited by antibodies and antigens.Inspired by the mechanism of interleukin’s immune regulation,the correction problem of the robot’s orbital deviation was solved by defining interleukin regulatory factors.The robot speed was adaptively selected through the antibody excitation value to complete the formation control.The numerical test results in four different environments show that,compared with other formation control algorithms,the interleukin immune network control algorithm can not only ensure that multiple robots form a prescribed formation,but also the average time is reduced by 73%,the average robot displacement is reduced by 60%,and the average deviation angle is close to 0.Furthermore,the interference test results based on the simulation platform verify the effectiveness and superiority of the proposed algorithm.

关 键 词：多机器人 队形控制 免疫网络算法 白介素 免疫协作 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]