摘要
针对多机器人协同控制问题,采用Zigbee无线通信系统,设计了基于局部信息存储的黑板通信方式,将领航-跟随算法与虚拟力法相结合,定义了基于距离与速度分量的虚拟力,通过引入随机发生函数、变排斥力反馈控制算法,解决了多机器人自组织协作中瘫痪死锁、决策冲突的问题,构建了三台两轮差速驱动的小型移动智能体物理实现平台。仿真结果及移动机器人实体实验证明了该方法的有效性和可行性。
Aiming at multi-robot self-organizing collaboration control problem and using Zigbee wireless communication systems this paper presented a black board communication mode based on local information stored.Combined the leader-follower and the artificial potential field approach,a virtual force was defined based on distance and velocity vector.The problems of the paralyzed deadlock and decision conflicton for multi-robot self-organizing collaboration were solved by introducing a random generating function and variable repulsive force feedback control algorithm.And the small mobile intelligent physical implementation of the three two-wheel differential platform was built.Simulation results and mobile robots entity test demonstrate the validity and practicability of the proposed method.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2014年第24期3294-3297,3302,共5页
China Mechanical Engineering
基金
浙江省自然科学基金资助项目(Y1101355)
关键词
多机器人
编队控制
虚拟力
反馈控制
multi-robot
formation control
virtual force
feedback control
