多机器人任意队形分布式控制研究

本文针对多智能体协作完成特定任务时难以在全自主控制的前提下协作形成任意队 形和队形向量不易确定的问题，通过由各智能体自主简单的确定自己的队形向量，从理论上 扩展基于队形向量的队形控制原理以生成任意队形，改进机器人的运动方式以提高收敛速度 ，提出一种快速收敛的机器人部队任意队形分布式控制算法．为了解决智能体机器人之间的 冲突问题，提出了一个通信协调模型．仿真实验和实际机器人实验均表明了算法的可行性和 有效性．

DISTRIBUTED CONTROL FOR GENERATING ARBITRARY FORMATION OF MULTIPLE ROBOTS

To generate arbitrary shape cooperatively and determine formation vectors autonomously for multiple mobile robots when multiple mobile robot are to achieve a common task, an autonomous formation vector determination method is first proposed for every agent. Then formation vector based control algorithm is extended theoretically as so to generate a sort of given arbitrary formation shape and robot motion strategy is improved to reduce convergence time. A quick converging distributed algorithm for generating arbitrary shape of multiple mobile robots is proposed. To prevent the robot from collision, a communication model is presented. The simulation results and the real robot experiments show the feasibility and validity of the algorithm proposed in this paper.