多移动机器人的队形控制

针对步行机器人建模困难和传感信息有限的条件下对其进行的队形控制研究。通过建立机器人的队形位置信息知识库,制定有优先级的组队参考机器人选择规则,结合有限的传感交互信息,提出了基于主从知识联想的平行四边形法来确定机器人的运动向量,使跟随机器人在虚构的平行四边形中分析出其下一步的偏转角和速度,并在偏转角和速度的分析中考虑了时延和适当的控制周期。在机器人队形控制过程中的避障问题则采用模糊控制理论,依据人为经验制定的模糊避障控制规则使机器人灵活的避开障碍,仿真实验证明了算法的有效性。

Formation Control of Multiple Mobile Robots

This article conducts the formation control research of walking robot under the modelling difficulty and the sensing information limited.Through establishing the robot＇s knowledge library about the formation positional information,based on the priority selective rule to the reference robot,and unifying the limite sensing interactive information,it proposes the host from the knowledge association parallelogram law to obtain the movement vector,the follow robots analysis the next deflection and speed in the fiction parallelogram,and considers the time delay and appropriate control cycle in the analysis.And uses the fuzzy control theory in the robot formation controll process,rests on the artificial experience to avoid obstacles by fuzzy control rules,the robots avoid obstacles flexiblely.The simulation results show the effectiveness of the algorithm.