多机器人队形变换最优效率求解

提出多机器人编队的队形变换最优效率求解模型.将多机器人队形变换模式分为静态变换和动态变换,选择队列变换能耗（FEC）与队列收敛时间（FCT）作为效率衡量指标.最优FEC效率模型是使得队列中所有机器人移动距离之和最小的极小模型,最优FCT效率模型是使得队列中移动距离最大的机器人的移动距离最小的极小极大模型.动态变换的效率模型增加了队形几何中心移动方向与范围的约束条件.利用最小二乘法求解FEC模型,利用Lawson算法求解FCT模型,利用Lawson算法与拉格朗日乘子法联合求解带约束的FCT模型.通过求取模型的最优解,获取各机器人变换后的最优空间位置,并得到最优的队形变换效率.仿真实验显示了该效率求解模型的有效性.

Optimal efficiency of multi-robot formation transform

An optimal efficiency model for multi-robot formation transform was proposed.The multi-robot formation transform is divided into static transform mode and dynamic transform mode,and the formation energy consumption (FEC) and the formation convergence time (FCT) are adopted to evaluate the efficiency of formation transform.The optimal FEC model is a minimization model which minimizes the displaced distance sum of every robot.The optimal FCT model is a max-min model which minimizes the maximal displaced dista...