一种新的机器人自组网群组运动控制模型

针对现有机器人自组网运动控制模型无法真实反映机器人运动规律的问题，提出一种新的群组运动控制模型（groupmovementcontr01model，GMCM）。该模型基于机器人通用运动学模型，采用群组控制算法，对传统群组随机运动模型——参考点群组运动模型（referencepointgroupmobility，RPGM）进行修改，可描述机器人编队解散和集合的运动状态，满足群组分割与合并的需求。进一步实现GMCM模型，并基于GMCM，RPGM，DRGM模型对机器人自组网路由协议进行模拟仿真。结果表明，基于GMCM模型仿真时协议性能有所降低，较为真实地模拟了机器人编队运动，对机器人自组网的研究具有一定的参考价值。

A novel group movement control model for the Ad hoc robot network

As the existing movement control model in the Ad hoe robot network cannot truly reflect the rule of the robot＇s mo tion, a novel group movement control model （GMCM） is proposed in this paper. Based on the general movement control model of robots, using the group control algorithm and the traditional mobility models in Ad hoc networks, reference point group mobility （RPGM） model is modified to characterize the robot＇s motion of disbanding and assembling and satisfy the requirement of group partitioning and merging. Furthermore, the GMCM model is implemented, and the routing protocol in Ad hoc robot networks is simulated based on the GMCM, RPGM and DRGM models. Simulation results show that the performance of the protocol based on GMCM model is worse than that of RPGM model. The GMCM model can realistically simulate the motion of the robot formation, and has some value in the research of Ad hoc robot networks.