共查询到19条相似文献,搜索用时 62 毫秒
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多移动机器人避障编队控制 总被引:2,自引:0,他引:2
研究多移动机器人避障优化设计,针对多移动机器人在障碍物环境下的编队控制问题,为了保持整体合理避障和控制系统的稳定性和安全性,提出一种多机器人避障编队控制策略.首先获得多移动机器人编队的队形结构模型,结合多机器人完成避障编队任务的问题描述;在此基础上引入导航函数采用一种避障编队控制算法,使移动机器人能以设定的队形运动到目标点,可保证编队运动过程中未与障碍物发生碰撞.进行仿真的结果证明,所提算法解决了多机器人编队与避障问题,并保证了闭环系统的稳定性与安全性,验证了设计方法的有效性. 相似文献
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研究多移动机器人协同编队控制问题,提出一种基于虚拟结构的分布式预测控制算法.与现有编队控制方法相比,基于虚拟结构的方法可以使移动团队更加稳定地保持期望编队队形运动,通过将变换矩阵与虚拟结构相结合可以改善编队结构的灵活性,从而有效拓展该方法的应用范围.最后将所提出控制算法与现有编队控制方法进行对比仿真,结果验证了其有效性... 相似文献
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基于多传感器的移动机器人避障① 总被引:1,自引:0,他引:1
提出了一种视觉传感器和红外线测距传感器相结合来实现移动机器人在不确定环境中自主避障的方法。首先对视觉传感器采集的图像使用光流法提取障碍物信息,再结合红外线测距传感器反馈的距离信息,然后通过避障策略实现移动机器人的避障。实验结果验证了该避障方法的良好性能。 相似文献
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一种多移动机器人避障的改进算法 总被引:1,自引:0,他引:1
为了使多机器人在有障碍物的环境中可靠地运行,针对多机器人的避障问题,融合沿墙行为的避障模式,构造出一类具有自适应特性l-ψ闭环控制律下的多机器人避障算法,以作为基于行为的控制策略的有益补充。仿真结果表明,该算法可以成功地解决机器人因融合参数不当而形成的避障"死锁"问题,使多机器人在有障碍物的环境下,在障碍物区能够顺利地通过障碍物,在离开障碍物后,快速恢复至稳定。 相似文献
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多移动机器人队形控制的研究方法 总被引:13,自引:0,他引:13
本文从基本思想、优缺点等方面论述了进行多移动机器人队形控制的三种研究方法.介绍了
一种包含这三种方法的系统体系结构,并对该体系结构进行了评价,指出了需要进一步研究
的问题. 相似文献
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多移动机器人合作系统中的单机控制体系结构研究 总被引:2,自引:0,他引:2
随着机器人技术的不断发展,出现了合作多移动机器人系统这一新的研究和应用领
域,随之而来的是对机器人控制体系的新的要求.本文分析了合作多移动机器人系统对单机
控制体系结构的要求,并以此为背景,在比较两种典型的智能机器人体系结构的基础上,提
出一种混合分层的体系结构. 相似文献
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多移动机器人的队形控制 总被引:1,自引:0,他引:1
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。 相似文献
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The problem of stabilizing reference trajectories - also referred to as the trajectory tracking problem - for nonholonomic mobile robots is revisited. Theoretical difficulties and impossibilities that set inevitable limits to what is achievable with feedback control are surveyed, and properties of kinematic control models are recalled, with a focus on controllable driftless systems that are invariant on a Lie group. This geometric framework takes advantage of ubiquitous symmetry properties involved in the motion of mechanical bodies. The transverse function approach, a control design method developed by the authors for the past few years, is reviewed. A salient feature of this approach, which singles it out of the abundant literature devoted to the subject, is the obtention of feedback laws that unconditionally achieve the practical stabilization of arbitrary reference trajectories, including fixed points and nonadmissible trajectories. This property is complemented with novel results showing how the more common property of asymptotic stabilization of a large class of admissible trajectories can also be granted with this type of control. Application to unicycle-type and car-like vehicles is presented and illustrated via simulations. Complementary issues (transient maneuvers monitoring, extensions of the approach to systems that are not invariant on a Lie group, etc.) are also addressed with the concern of practicality. 相似文献
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Wenjie Dong 《Journal of Intelligent and Robotic Systems》2011,62(3-4):547-565
This paper considers formation control of a group of wheeled mobile robots with uncertainty. Decentralized cooperative robust controllers are proposed in two steps. In the first step, cooperative control laws are proposed for multiple kinematic systems with the aid of results from graph theory such that a group of robots comes into a desired formation. In the second step, cooperative robust control laws for multiple uncertain dynamic systems are proposed with the aid of backstepping techniques and the passivity properties of the dynamic systems such that multiple robots comes into a desired formation. Since communication delay is inevitable in cooperative control, its effect on the proposed controllers is analyzed. Simulation results show the effectiveness of the proposed controllers. 相似文献
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Gang Wang Chaoli Wang Qinghui Du Lin Li Wenjie Dong 《Journal of Intelligent and Robotic Systems》2016,83(3-4):525-541
In this paper, the distributed cooperative control problem is considered for multiple type (1,2) nonholonomic mobile robots. Firstly, a local change of coordinates and feedback is proposed to transform the original nonholonomic system to a new transformed system. Secondly, a distributed controller for the transformed system is designed by using information of the intrinsic system and its neighbors to make the state converge to the same value asymptotically. Furthermore, it shows that the same value can be confined to the origin, which means that the problem of cooperatively converging to a stationary point of a group of nonholonomic systems can be practically solved. Finally, due to the communication delays are inevitable in practice, new distributed controllers for the transformed system are also proposed making the state converge to the same value or zero asymptotically with considering communication delays. The proposed methods are then extended to the case where the nonholonomic mobile robot needs to form a prescribed formation other than agreeing on a same value. The stability of the proposed methods is proved rigorously. Simulation results confirm the effectiveness of the proposed methods. 相似文献
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基于Fuzzy-PID的移动机器人运动控制 总被引:9,自引:1,他引:9
移动机器人涉及到许多研究方向,运动控制是其中的基础。通过对移动机器人运动学模型进行分析,以足球机器人系统为实验平台,论证了Fuzzy-PID技术应用于移动机器人运动控制的可行性。将传统的PID控制与模糊控制相结合,通过PID控制实现控制的准确性,利用模糊控制提高控制的快速性。针对移动机器人运动控制中的实际问题,着重提出了基于误差分区的PID控制器和模糊控制器的设计方法。实验证明该方法不仅增强了控制器的调节能力,还在一定程度上简化了控制器的设计。 相似文献
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