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群体觅食行为启发的多机器人分布式编队控制方法研究 被引量：1

Distributed Formation Control of Multi-robot System Inspired by the Foraging Behavior of Bacteria
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摘要 群集智能由简单个体之间的相互作用涌现出来,这种涌现出来的智能可以解决许多复杂的问题.首先,从细菌群体觅食特性出发,引出了该行为与多机器人编队任务的相关性.然后,通过对群体觅食行为模型的扩展,建立了基于势场的多机器人分布式编队控制模型;最后,在不同规模下的多机器人编队仿真实验表明,本文的方法能够控制多机器人完成编队任务,并且使得机器人在遇到障碍物时能灵活躲避障碍物,离开障碍物后又快速恢复队形. Swarm Intelligence which emerges from interactions of simple individuals can be used to solve many problems. Firstly, the relationship between the foraging behavior of the bacteria and the formation control of the robots are described. Then,the model of for- aging behavior is extended for the distributed formation control of multi-robot system. Finally, the experiments in different sizes of robots show that the method in this paper makes the robots avoid the obstacles when they meet the obstacle, and resume the formation after passing the obstacles in the formation tasks.
作者 徐东 刘佰龙 张汝波
机构地区 哈尔滨工程大学计算机科学与技术学院
出处 《小型微型计算机系统》 CSCD 北大核心 2009年第10期2034-2038,共5页 Journal of Chinese Computer Systems
基金 国家"八六三"高技术研究发展计划项目(2009AA04Z215)资助 国家自然科(60975071)资助 武器装备预言基金项目资助
关键词 群集智能 势场法 多机器人 分布式 编队控制 swarm intelligence potential field multi-robot system distributed formation control
分类号 TP18 [自动化与计算机技术—控制理论与控制工程]
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参考文献17

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二级参考文献8

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小型微型计算机系统
2009年 第10期

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