一类有序化多移动机器人群集运动控制系统

群集运动控制(flocking control)是一种新型的多移动机器人运动协调控制, 目前的研究多集中于无leader模式下群集运动控制器的设计. 为此, 本文阐述了一类多移动机器人有序化群集运动系统控制方案及其性能评价方法. 首先, 在前人的研究基础上, 本文介绍了基于Agent的有序化编队控制机制; 然后, 运用非完整约束下移动机器人的动力学原理, 设计了由Agent到移动机器人的控制转化方法; 并进一步提出了基于“最小稳定时间”的群集运动分析法, 可对有序化群集运动系统进行分析; 最后, 运用仿真实例, 描述了多移动机器人有序化群集运动的控制及分析过程. 实验结果验证了此控制方案的有效性.

A sequential flocking control system for multiple mobile robots

Flocking control is a new type of control which coordinates the motions among multiple mobile robots. Current researches focus their attention on leaderless flocking controller design. We, in this paper, present the design of a sequential flocking control for multiple mobile robots, and put forward the corresponding performance evaluation method. Firstly, we briefly review the existing theories of agent-based sequential formation control; and then, transfer the agentbased flocking control strategy to the design of overall control algorithm for mobile robots, by considering the dynamics of nonholonomic mobile robot. To analyze the sequential flocking system, a flocking performance analysis method based on the least stability time(LST) is proposed. Simulations of real problems illustrate the processes of control and analysis of a multiple mobile robots sequential flocking system. The simulation results demonstrate the efficacy of our proposed procedure.