摘要
多个机器人要形成一个稳定的队形,系统内必须有信息的传递和交换。根据多机器人的物理约束、信息交换和控制策略建立了多机器人编队的网络模型,提出了改进的粒子群多目标优化算法(MPSO),并利用该算法对多机器人编队系统实现了优化控制。从仿真结果看,6个机器人能快速地从三角形状变换到直线编队,且变换过程中没有相互的碰撞,队形误差也很小。
A network -based model was established in terms of multi -robot＇s space constraint, communication and control approaches. Improved Multi - objective Particle Swarm Optimization algorithm （MPSO） was proposed and applied to optimize 6 robots＇ formation system from triangle to line shape, where formation cost, collision avoidance cost and tracking cost were considered. The simulation results show that PSO algorithm is an effective approach for multi - robot formation optimization.
出处
《武汉理工大学学报（信息与管理工程版）》
CAS
2008年第6期865-868,共4页
Journal of Wuhan University of Technology：Information & Management Engineering
基金
国家自然科学基金资助项目(60675055)
关键词
多机器人编队
代数图论
网络模型
粒子群优化算法
优化控制
multi - robot formation
algebraic graph theory
network model
particle swarm optimization （PSO）
optimization control
