基于分解策略的多机器人编队控制方法

根据多机器人在不确定环境中编队智能行进控制的要求,以多移动机器人为对象,提出了一种基于分解策略的多机器人编队控制方法,将复杂的多机器人编队问题分解为若干组2个机器人之间的协调问题.建立了多机器人编队的基本队形模型,提出了基于主从方式的多机器人控制策略,根据基于行为的方法设计了机器人的基本子行为,通过带权值的各子行为的叠加合成得到机器人的最终行为,给出了机器人的速度调节方案.计算机仿真结果验证了该方法的有效性和可行性,具有较好的可扩展性.

Formation control for multiple robots based on a strategy of decomposition

An approach to formation control based on a strategy of decomposition is proposed in order for a formation of multiple mobile robots to march forward intelligently in an unknown environment.The complicated problem of multiple robot formation was decomposed into basic problems of coordination between two robots.A basic formation model of multiple robots was built and a control strategy of master-slaved for the formation of multiple robots was proposed.Design factored in a behavior-based approach for multiple robots.The final behavior was obtained from the synthesis of all behaviors with a coefficient.A control method for velocities of robots was also proposed.Computerized simulation results show that the approach is effective,feasible,and extendable.