小型机器人编队试验平台的设计与制作  

Design and Make of Small Robot Formation Test Platform

作　　者：匡曦 周颖鹏 崔冰艳 高伊涵 顾凌铭 孙静[1] KUANG Xi;ZHOU Yingpeng;CUI Bingyan;GAO Yihan;GU Lingming;SUN Jing(Hunan Institute of Engineering,Xiangtan 411100,China)

机构地区：[1]湖南工程学院,湘潭411100

出　　处：《机电技术》2024年第5期74-78,101,共6页Mechanical & Electrical Technology

摘　　要：随着多机器人及编队控制技术研究的不断深入,如何进行编队控制的试验与测试逐渐受到关注和重视。文章设计并制作了一款小型机器人编队试验平台,旨在提供一种可靠、灵活且易于操作的小型机器人编队试验工具,为机器人编队控制与协同行为研究提供了一种试验方式。该平台由多个小型机器人组成,每个机器人均配备有传感器、控制器和通信模块,以实现感知、决策和执行等功能;通过建立无线网络与上位机的通信,实现对机器人编队的集中控制和监测。文章对相关编队控制算法进行了试验验证,试验结果表明:设计的小型机器人编队试验平台具备较好的可行性、稳定性和便捷性,为研究机器人编队控制策略及算法的优化提供了一种可借鉴的方式,在机器人编队领域研究中具有一定的参考价值。With the deepening of research on multi-robot and formation control technology,how to conduct formation control experiment and test has been paid more and more attention.In the paper,a small robot formation test platform is designed and made,which aims to provide a reliable,flexible and easy to operate small robot formation test tool,and provide a test method for the study of robot formation control and cooperative behavior.The platform consists of several small robots,each equipped with sensors,controllers,and communication modules for sensing,decision-making,and execution.Through the communication be-tween wireless network and host computer,the centralized control and monitoring of robot formation are realized.The experimental results show that the designed small robot formation test platform has good feasibility,stability and convenience,which provides a reference method for the study of robot formation control strategy and algorithm optimization,and has certain reference value in the field of robot formation research.

关 键 词：小型机器人 编队控制 试验平台 试验验证 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP249[自动化与计算机技术—控制科学与工程]