无冲突协调自动联控集群机器人方法与仿真  

Simulation of Conflict Free Coordination and Automatic Joint Control Method for Cluster Robots

作　　者：旺扎拉 戴景民[1] WANG Zha-la;DAI Jing-min(School of Instrument Science and Engineering,Harbin University of Technology,Harbin Heilongjiang 150001,China;Department of Information Engineering,Ordos Institute of Technology,Ordos Inner Mongolia 017000,China)

机构地区：[1]哈尔滨工业大学仪器科学与工程学院,黑龙江哈尔滨150001 [2]鄂尔多斯应用技术学院信息工程系,内蒙古鄂尔多斯017000

出　　处：《计算机仿真》2024年第4期451-455,共5页Computer Simulation

基　　金：国家自然科学基金(62275066)。

摘　　要：集群机器人需要高效的通信和协同工作,但是受障碍物、其它机器人的位置和运动状态等因素影响,增加了无冲突协调自动联控的难度。为此,提出集群机器人的无冲突协调自动联控方法。采用马尔可夫决策描述机器人选取任务过程,利用博弈论,计算目标与机器人之间存在的距离与机器人移动耗时,建立机器人效用函数实现任务的分配;通过虚拟弹簧连接机器人,建立集群机器人网络,采用领导者-跟随者编队法对集群机器人编队;设计机器人在工作空间中的避障控制策略,实现集群机器人的无冲突协调联控。实验结果表明,所提方法的控制效率高、总路程短、不存在冲突和碰撞现象,验证了所提方法具有良好的联控性能。Cluster robots require efficient communication and collaborative work.However,some factors such as obstacles,the position and motion status of other robots increase the difficulty of collision-free coordination and automatic joint control.Therefore,a method of collision-free coordination and automatic joint control for cluster robots was proposed.Markov decision was used to describe the task selection process of the robot at first.And then,game theory was used to calculate the distance between target and robot and the time consumed by robot movement.Moreover,the utility function of robot was established to achieve task allocation.Furthermore,virtual springs were used to connect robots and establish a cluster robot network.Meanwhile,the leader-follower formation method was adopted to organize robots into a team.Finally,obstacle avoidance control strategies for robots in the workspace were designed to achieve the conflict-free coordinated joint control of cluster robots.Experimental results show that the proposed method has high control efficiency,short distance,no conflicts or collisions,which verifies its good joint control performance.

关 键 词：集群机器人 效用函数 博弈论 无冲突协调联控 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]