多机器人编队控制

Formation Control of Multi-Robot

编队控制是多机器人协调控制系统设计中的典型问题,本文阐述了一种基于行为的混合分层体系结构,该系统以基于反应式结构的三种基本行为为基础,运用加权平均的行为选择机制进行控制。经过仿真实验证明,该算法能实现多机器人在有障碍物情况下自动避障,并在远离障碍物时自动恢复队形,达到了良好的编队控制效果。

The multi-robot formation control is the typical problem of the multi-robot cooperation control system.This paper introduces a hybrid architecture,the fundament of which is three behaviors based on the reactive architecture.Using the weighted-average behaviors selection mechanism to control.The simulation results show that the algorithm can achieve in multi-robot automatic obstacle avoidance and recovery formation away from obstacle.The simulation results validate the good control effect of this method.