基于流函数的多移动机器人Swarming控制模型

Multiple Mobile Robots Swarming Control Model Based on Stream Function

利用流函数解决单个移动机器人的避障问题,并提出了基于流函数和单一连接规则的、采用虚拟lead-er和二叉树结构的多移动机器人swarm ing控制模型.基于单一连接规则的二叉树结构使得整个机器人群的控制更简单,更灵活;而虚拟leader的引入,使机器人群在避障过程中不会发生分离,并能够很好地解决类似于机器人掉队的问题,提高了系统的稳定性,增强了系统的应变能力.仿真结果验证了该模型的有效性.

The obstacle avoidance of a single mobile robot is solved by using stream function, and a multiple mobile robots swarming control model with a virtual leader and bintree structure is presented, which is based on stream function and singular association （SA） rule. The bintree structure based on SA rule makes it more flexible and simple＇to control the robots swarm. By introducing the virtual leader, the swarm wouldn＇t be separated during obstacle avoidance, and the situation that some robots drop behind can be solved very well. This improves the stability and flexibility of the system. Simulations are presented to demonstrate the validity of the model.