摘要
介绍了基于领导者的群体机器人一致性方法,在此基础上提出一种群体机器人编队及导航控制方法。该方法采用分层控制策略,即控制系统分为目标层、领导层和跟随层。将目标层中目标点的位置信息发送给领导者,采用位置一致性算法使领导者朝目标运动;与此同时,领导者将其状态信息发送给跟随层中的跟随者,采用基于领导者的群体机器人编队控制方法,使跟随者与领导者保持一定的队形朝着目标运动。该方法可针对由多个子集构成的群体机器人系统进行导航。通过计算机仿真和群体机器人实验平台验证了所提方法的有效性。
A consensus algorithm for swarm robots based on leader is introduced.On the basis of this algorithm,a formation and navigation control method for swarm robots is proposed.It uses hierarchical control strategy,and the control system is divided into target layer,leader layer and follower layer.Position information of target point in the target layer is sent to the leader,and then the leader is impelled to move towards the target by using the position consensus algorithm.Meanwhile,the leader＇s status messages are delivered to his followers in the next layer,and the formation control algorithm based on leader is adopted to control the leader and his followers moving to the target with the right formation.The proposed approach can be used to navigate swarm robots system consisting of multiple subsystems,and its validity is verified by computer simulation and swarm robots experimental platform.
出处
《武汉科技大学学报》
CAS
北大核心
2016年第3期219-223,共5页
Journal of Wuhan University of Science and Technology
基金
国家自然科学基金资助项目(61305110)
武汉科技大学青年科技骨干培育计划项目(2011xz007)
关键词
群体机器人
多智能体
一致性
领导者
编队
导航
分层控制
swarm robots
multi-agent
consensus
leader
formation
navigation
hierarchical control
