基于多智能体遗传算法的多机器人混合式编队控制

Multi-robot Hybrid Formation Control Based on Multi-Agent Genetic Algorithm

提出了一种基于多智能体遗传算法的多机器人混合式编队控制方法,将多智能体系统与传统遗传算法相结合,形成了一种新的在线优化算法(多智能体遗传算法),应用到多机器人编队控制中。同时将领航跟随法与人工势场法相结合,能更有效地保持队形的稳定性、增强抗干扰能力。采用该方法进行仿真实验,并与传统机器人编队控制方法相比较,实验结果验证了所提方法的可行性和有效性。

A new hybrid formation control approach for multi-robot based on multi-agent genetic algorithm is proposed, which combines multi-agent system with genetic algorithm to optimize motion parameters of multi-robot on liner. Meanwhile, using the Leader-follower and artificial potential field, this approach can improve stability of the formation and the ability of resisting interference. We adopt the method which we proposed before to simulation and compares with the formation control without using multi-agent genetic algorithm. The simulation result verifies that the proposed hybrid formation control algorithm is feasible.