基于行为的多机器人编队控制的仿真研究

The simulation study on formation control of multi-robot system based on behaviors

多机器人的编队问题是多机器人协作中的一个典型问题,编队包括队形形成和编队控制。针对多机器人的编队控制问题,本文采用基于行为法和基于leader的协调策略相结合的方法。首先根据Motor Schema的反应式控制结构,设计了五种基本行为,即奔向目标行为(move-to-goal),保持队形行为(keep-formation),躲避静态障碍物行为(avoid-stastic-obstacle),躲避机器人行为(avoid-robot)和随机行为(random),对各行为进行加权形成局部控制器来控制机器人的局部行为。然后利用基于leader的协调策略来协调各个机器人的行为,形成全局控制器来控制机器人的最终的行为。通过仿真,验证了该方法的可行性和有效性。

The formation problem of multi-robot is a typical problem in cooperation of multi-robot-system.The formation includes formation form and formation control.Aiming at the formation control problem,we use the method which is combined behavior-based with leader-based in this paper.Five primitive behaviors called move-to-goal,keep-formation,avoid-stastic-obstacle,avoid-robot and random are devised on the basis of Motor Schema＇s reactive control architecture.Each behaviors is weighted sum to control local behavior of robots.Using coordinated strategy based on leader harmonizes behaviors of robots to control final behaviors.The simulation results validate the feasibility and validity of this method.