基于行为的机器人编队控制研究

建立了一种基于行为的机器人编队控制结构模型，该结构采用分层控制策略，全局控制器根据当前所有机器人的状态从一个有限状态机中选择下一步机器人的行为，将协调控制量发送给各机器人，各机器人再通过局部控制器对自身进行控制。该结构模型简单、易行，并且适用于机器人不同任务的需要，具有很高的灵活性，而且易于仿真实现。在此基础上，将一类机器人模型进行反馈线性化，再根据编队控制的要求，利用后推方法设计控制律。仿真结果表明这种结构模型和控制算法是有效的。

Formation Control of Robots Based on Behavior

An architecture model based on behavior for formation control of robots is introduced.The architecture adopts layered control strategy,and the global controller selects the next behavior for robots from a Finite States Machine(FSM) based on the states of all robots and sends the coordination control parameters to robotics.Its local controller controls each robot.It is simple and feasible to be applied for different tasks and can be simulated easily.Moreover,the feedback linearization for a kind of robots and the control law is designed by backstepping.Simulation results show the validation of both the model and the control law presented.