摘要
论述了一类通用的经过通信信道进行协调的多移动机器人编队控制系统.在分别获取自身位姿信息的前提下,各个机器人通过通信信道交换和共享同组成员的位姿信息,然后通过计算得到各机器人之间的相对位姿,进而完成编队协调任务.利用此技术,可实现一种不受环境限制的多机器人编队,其特点在于编队的完成主要依赖于通信系统,不论编队中各机器人是否能够彼此感知,编队都能进行,从而提高了多机器人编队对环境的适应性.采用闭环l-φ编队控制算法验证此设计方法的有效性,在三台移动机器人上进行了实验,实验结果证明了该方案的可行性.
A class of general multiple mobile robots formation control system of achieving coordination through communication channel was described. Suppose having acquired respective attitudes independently, various mobile robots can exchange and share these attitudes information in the whole group through communication channel. Then, the relative attitudes among mobile robots can be deduced, and multi-robot formation will be achieved. With this technique, the multi-robot formation control system without environment constraint can be realized. A distinguishing feature of the authors＇ work lies in the fact that the implementation of robot formation mainly relies on communication, no matter the members in team sense others or not. Consequently, the environment adaptability of multi-robot formation will be improved. The validity of such design was demonstrated through the adoption of multi-robot closed-up formation control algorithm. The autors＇ demonstration included the experiment using three mobile robots. The results showed the authors＇ scheme is feasible.
出处
《华中科技大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2005年第11期67-70,共4页
Journal of Huazhong University of Science and Technology(Natural Science Edition)
基金
国家自然科学基金资助项目(6997401760274020)
关键词
多移动机器人
多智能体
编队控制
通信信道
multiple mobile robots
multi-agent
formation control
communication channel
