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本文以移动机器人为研究对象,仅利用方位角信息实现多智能体系统的编队控制.为实现大规模编队和队形的缩放控制,智能体被分为领航者、第1跟随者以及其余跟随者.首先,考虑智能体之间相对位置信息难以精确测量的情形,设计仅用方位角信息的估计算法获得准确的相对位置;然后,基于获得的相对位置信息设计第1跟随者的控制算法,使得第一跟随者... 相似文献
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A key problem in cooperative robotics is the maintenance of ageometric configuration during movement. To address this problem, theconcept of a Virtual Structure isintroduced. Using this idea, a general control strategy is developedto force an ensemble of robots to behave as if they were particlesembedded in a rigid structure. The method was instantiated and testedusing both simulation and experimentation with a set of 3differential drive mobile robots. Results are presented thatdemonstrate that this approach is capable of achieving high precisionmovement that is fault tolerant and exhibits graceful degradation ofperformance. In addition, this algorithm does not require leaderselection as in other cooperative robotic strategies. Finally, themethod is inherently highly flexible in the kinds of geometricformations that can be maintained. 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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《Robotics, IEEE Transactions on》2008,24(6):1457-1462
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In the field of formation control, researchers generally control multiple robots in only one team, and little research focuses on multi-team formation control. In this paper, we propose an architecture, called Virtual Operator MultiAgent System (VOMAS), to perform formation control for multiple teams of mobile robots with the capabilities and advantages of scalability and autonomy. VOMAS is a hybrid architecture with two main agents. The virtual operator agent handles high level missions and team control, and the robot agent deals with low level formation control. The virtual operator uses four basic services including join, remove, split, and merge requests to perform multi-team control. A new robot can be easily added to a team by cloning a new virtual operator to control it. The robot agent uses a simple formation representation method to show formation to a large number of robots, and it uses the concept of potential field and behavior-based control to perform kinematic control to keep formation both in holonomic and nonholonomic mobile robots. In addition, we also test the stability, robustness, and uncertainty in the simulation.
This research was supported by the National Science Council under grant NSC 91-2213-E-194-003. 相似文献
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基于行为的机器人自适应队形控制 总被引:1,自引:0,他引:1
针对多机器人在未知复杂环境下的队形控制问题,将leader-follower法结合到基于行为法中,提出了机器人在复杂环境下采取跟踪链的方式穿越障碍,而后再重新组队,使机器人适应环境的能力增强,避免了机器人在复杂环境下掉队的现象.在避障活动障碍时,依据障碍运动趋势有预见的主动避开,使控制行为既简单又有效,仿真结果表明该队... 相似文献
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AbstractDue to the recent advances in robotics, large numbers of robots can be created that exhibit ‘swarm-like’ behavior. These robots, typically small and low-cost with restricted sensing, often exhibit Brownian motion similar to micro-particles. The development of algorithms that create collective behavior that is robust to external pressures has applications in outdoor exploration, search and rescue operations, and nanomedicine. Here, we outline how a swarm of minimal robots, exhibiting only Brownian motion and with limited sensing capabilities, can form trails using mechanisms inspired by diffusion-limited aggregation (DLA). We demonstrate how the trail is robust to obstacles and efficient at finding the closest target. We validate this algorithm both in simulation as well as in reality, using a swarm of up to 100 robots, and highlight the optimum requirements for trail formation. 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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在这篇论文中, 我们利用一个统一的算法框架来解决移动机器人的队形控制和主动避障问题, 使得编队中的从机器人在避开障碍物的同时, 能够与被跟踪的主机器人保持期望的相对距离或相对方位. 在现有的关于主—从跟踪编队控制的文献中, 为了实现对主机器人快速准确的跟踪, 从机器人在跟踪控制时需要主机器人在惯性坐标系下的绝对运动速度作为队形跟踪控制器的输入. 然而, 在一些环境中, 主机器人的绝对运动状态很难获得. 这里, 我们将利用主—从机器人之间的相对速度来建立机器人编队系统的运动学模型. 基于这个模型的编队控制方法将不再需要测量主机器人的绝对运动速度. 进一步地, 上述的建模和控制方法被扩展为一个移动机器人的动态避障方法, 该方法利用机器人与障碍物之间相对运动状态作为避障控制器的信息输入. 利用由三个非完整移动机器人组成的多机器人系统, 验证了所提出编队控制方法的有效性. 相似文献
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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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针对大部分两轮非完整移动机器人轮轴中心与几何中心不重合的特点, 提出一种多机器人协调编队控制算法. 构造队形参数矩阵确定编队形状, 根据领航机器人和相关队形参数生成虚拟机器人, 把编队控制分解为跟随机器人对虚拟机器人的轨迹跟踪. 建立虚拟机器人与跟随机器人之间误差系统模型, 利用Lyapunov 理论设计相应控制器, 从而实现队形保持和变换. 应用microsoft robotics developer studio 4(MRDS4) 搭建3D 仿真平台, 设计3 组实验, 结果进一步验证了所提出方法的有效性.
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针对多机器人在编队行进过程中的行为选择问题进行了分析,提出一种实现多移动机器人编队的行为选择机制。通过计算机仿真和实验研究,结果表明该控制策略能很好的实现多机器人快速编队,并在编队过程中实现运动状态的平滑变化,提高了整个系统性能。 相似文献
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Kazunori Sakurama Yusuke Kosaka Shin-ichiro Nishida 《International Journal of Control, Automation and Systems》2018,16(1):16-26
This study deals with the formation control problem of swarm robots using position sensitive detector (PSD) proximity distance sensors based on light-emitting diodes (LEDs). These proximity distance sensors are lightweight and quickly responsive, and are expected to enhance the mobility and flexibility of swarm robots. However, as each sensor has a narrow detection angle, the formation control problem becomes more difficult than when wide-directional distance sensors (such as cameras and laser rangefinders) are used. To overcome this difficulty, we design a two-part motion controller that controls both position and attitude. The attitude controller is necessary for continuous detection of other robots through the narrow detection angles. The designed controller is distributed in the sense that it requires only information on measured values of each robot’s own sensors. Next, we derive an appropriate sensor arrangement (positions and detection angles) that achieves the desired formation pattern. Finally, the effectiveness of the proposed method is demonstrated in an experiment performed by six omni-wheeled robots equipped with LED-based PSD proximity distance sensors. 相似文献