基于改进人工协调场的多机器人运动编队

Multi-Robot Formation Based on Artificial Coordinating Field

针对多移动机器人编队形式单一、使用传统人工势场法易陷入局部极小的问题,提出改进人工协调场法。该方法不仅可在不同时间内随机器人数量不同而不断变换队形,达到运动编队的效果,而且适合追踪动态目标点,使机器人的避障能力更加灵活。通过仿真实验验证了上述方法的有效性。

In rezpanse to the single formation control of mobile robots and the problem of local minimum, this paper provides an improvement of artificial coordinating field, during which the formation varies from time to time and the amounts of robots, achieving the traveling formation and the traveling target point is suitable to be chased, making robots＇ ability of avoiding obstacles more flexible. And the method is verified through simulation experiment.