基于雁阵变换的微型扑翼飞行机器人集群行为控制方法  

Clustering Behavior Control Method of Micro Flapping-wing Flying Robot Based on Wild Goose Array Transformation

作　　者：丁伟 张峰[2] 宋敏 崔龙[2] 王宏伟[2] 刘钊铭 缪磊[2] DING Wei;ZHANG Feng;SONG Min;CUI Long;WANG Hongwei;LIU Zhaoming;MIAO Lei(College of Automation,Shenyang Institute of Engineering,Shenyang 110136,China;State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences Shenyang 110169,China)

机构地区：[1]沈阳工程学院自动化学院,沈阳110136 [2]中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳110169

出　　处：《无人系统技术》2023年第3期129-143,共15页Unmanned Systems Technology

基　　金：国家自然科学基金合作计划资助项目(U2013208);辽宁省自然科学基金资助项目(2022KF1212)。

摘　　要：为了解决微型扑翼飞行机器人集群编队目标搜索覆盖效率、避障通过性和多机控制等难题,实现扑翼飞行机器人集群编队的智能控制,提出了基于雁阵变换的扑翼飞行机器人集群行为控制方法。利用仿生集群行为控制函数的参数化特性,实现了飞行机器人编队的队形变换和角度控制;搭建了多扑翼飞行机器人实验系统,并在多种情况下设计基于仿生行为的多扑翼飞行机器人集群控制方法实验。最终的实验结果验证了方法的可行性和有效性。与传统的多飞行机器人实时控制方法相比,所提方法大幅提升了集群编队的搜索覆盖效率和避障通过率,在某些作业环境条件下,搜索覆盖率可提升50%以上,障碍通过率可提升60%以上。同时,创新点体现在将雁阵变换应用于多扑翼飞行机器人集群编队控制和将仿生集群行为控制应用于扑翼飞行机器人集群控制两个方面。In order to solve the problems of target search and coverage efficiency and obstacle avoidance of multi-aircraft cooperation in the cluster formation of micro flapping-wing flying robots,and realize the intelligent control of the cluster formation of flapping-wing flying robots,this paper proposes a control method for the cluster behavior of flapping-wing flying robots based on the wild goose array transformation.The formation transformation and angle control of flying robot formation are realized by using the parameterization characteristics of the bionic cluster behavior control function;the experimental system of multi-flapping-wing flying robot is built,and design experiments of cluster control method for multi flapping wing flying robots based on biomimetic behavior in multiple situations.The final experimental results verify the feasibility and effectiveness of the method.Compared with the traditional real-time control method of multi-flying robots,this method greatly improves the search coverage efficiency and obstacle avoidance pass rate of the cluster formation.Under certain operating environment conditions,the search coverage rate can be increased by more than 50%,and the obstacle pass rate can be increased by more than 60%.The innovation of this paper is reflected in the application of wild goose array transformation to the formation control of multi-flapping-wing flying robot cluster and the application of bionic cluster behavior control to the flapping-wing flying robot cluster control.

关 键 词：扑翼飞行机器人 雁阵变换 仿生集群行为控制 多机器人 机器人行为 编队控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]