基于Leader-Follower的多机器鱼模糊队形控制

Fuzzy Formation Control of Multiple Robot Fishes Under Leader-Follower Framework

针对多机器鱼系统队形控制中队形发生突变,机器鱼无法快速反应的问题,本文采用模糊控制的方法对机器鱼的速度和航向角度进行控制,使跟随者快速准确的到达期望位姿。同时,以3条鱼为例,对多机器鱼队形运动进行仿真验证,仿真结果表明,当领航者直行时,跟随者与领航者的运动和速度相等;当领航者改变方向和速度后,跟随者可在较短时间内通过速度和方向挡位的改变达到期望位置,并保持规定队形。该方法可以调节运动参数,保持队形稳定,实现多机器鱼按一定队形完成规定路径,其跟随效果良好。

In the formation control of multi-robot fish system, the robot fishes usually cannot react quickly to the sudden change of formation. To cope with this problem, fuzzy control is adopted in the paper to control the velocity and heading angle of robot fishes so that the followers can reach the desired position and orientation quickly and accurately. Meanwhile, three fishes are taken as an example in the simulation verification for formation movement of multiple robot fishes. When the leader moves straight, simulation results show that followers and the leader have the same velocity and movement. When the leader changes direction and velocity, followers can reach the expected position in a short time by adjusting the speed gears and direction of stalls, and at the same time keep a predetermined formation. The approach can adjust the motion parameters, maintain the formation configuration, prompt multiple robot fishes to complete the predetermined route with a desirable formation, and achieve a good effect of following.