摘要
多机器鱼的编队控制问题,是研究多机器鱼作为一个群体向特定目标或者方向运动,在运动过程中机器鱼相互之间建立并保持指定的几何形状,同时又要适应环境约束。为了实现多机器鱼的编队优化控制,提出了一种领导者-跟随者编队策略和一致性理论相结合的编队控制方法,首先基于图论法,在三维坐标系下应用领导者-跟随者策略,使不同初始位置的多个跟随鱼移动至合适位置,与领导鱼形成指定的几何图形编队;再采用一致性理论实现多个跟随鱼与领导鱼的速度和加速度同步,形成稳定移动的编队。在Matlab环境下进行了3D仿真,仿真结果表明提出的编队优化控制方法是可行的,并具有容易控制和控制稳定的特点。
In order to achieve formation optimal control of multiple robotic fishes, the formation control method was proposed, which combines the leaderfollower Formation Method and the consistency theory. Firstly, based on the graph theory method, the leader - follower strategy was adopted to make the follower fishes with the different initial positions move to suitable positions and form the specified geometry formation with the leader fish in a three - dimensional coordinate system. Then the consistent theory was used to implement multiple follower fishes＇ speed and acceleration synchronizing with the leader fish, to form a stable movement formation. The 3D simulation was carried out in Matlab environment. The simulation results show that the proposed formation optimal control method is feasi- ble, and has the characteristic of easy control and control stability.
出处
《计算机仿真》
CSCD
北大核心
2016年第12期356-359,共4页
Computer Simulation
基金
广西高校科学技术研究项目(ZD2014073)
关键词
机器鱼
编队控制
图论法
领导者一跟随者
一致性理论
Robotic fish
Formation control
Graph theory method
Leader - follower model
Consistency theory
