摘要
研究了整体时间最优的多移动机器人实时编队控制问题。由于在多机器人编队围捕等一些任务中,存在任务时间或通信范围有限等约束,提出了基于竞标机制的时间最优控制策略。针对编队过程中机器人可能发生故障等问题,在实时编队控制策略中设置了监督机制,以保证任意时刻编队队形的完整。设计了与竞标和监督机制相适应的机器人编队及运动行为,使得移动机器人的运动时间最少。通过编队形成及编队改变等一系列实时编队仿真实验,结果表明:本文提出的编队控制策略灵活可行,且能满足编队控制中实时性的要求。
The in this paper. real-time formation control with time optimization is studied for multiple mobile robots nee there exist the basic constraints such as the limitation of mission time or communication range in multiple mobile robots system, an auction-based time-optimal strategy is presented. A real-time monitor mechanism is introduced to keep the completeness of formation even if there are some robot failures. A suite of formation and motion behaviors is set to minimize the time of movement. A few of simulations including both the initialization and changing of the formation are carried out, and the simulation results show that the proposed control strategies are available and flexible, and the requirement of real time capacity in formation control can be satisfied.
出处
《华东理工大学学报（自然科学版）》
CAS
CSCD
北大核心
2010年第1期113-120,共8页
Journal of East China University of Science and Technology
基金
国家自然科学基金项目(60675043)
浙江省科技计划项目(2007C21051)
人事部留学回国人员科技活动择优项目(2006)
杭州电子科技大学科研启动基金项目(KYS09150543)
关键词
多移动机器人
实时编队控制
时间最优
竞拍机制
编队行为
实时监督
multiple mobile robots
real-time formation control
time-optimal
auction-based mechanism
formation behavior
real-time monitor
