摘要
利用弹性体作为虚拟结构建立的集群控制可以实现编队的大规模形变,同时自然满足避碰避撞需求.通过将集群编队嵌入到几何精确梁中,利用在李代数中对流应变的插值及对编队的虚拟弹性势能的塑形来快速实现编队变换.在场论Hamel形式框架下,建立了集群柔性编队围捕的算法.其能精确反映集群中个体的位姿以利于工程实现,同时具有坐标选取无关性适于刻画集群大范围运动.所得算法具有分布式特征,可并行实现从而满足实时控制的需要.通过模拟仿真验证了所得算法在实际场景中的适用性和有效性.
The swarm control choosing an elastic body as a virtual structure can realize large-scale deformation of formation,and meet the requirements of collision avoidance naturally.Firstly,the swarm is embedded in a geometrically exact beam.By using interpolation of convective strain in Lie algebra,the virtual elastic potential energy of formation is shaped to realize the formation transformation quickly.Secondly,an algorithm of swarm flexible formation for target-capturing is established.It can accurately characterize both positions and attitudes of individuals in the swarm for engineering implementation.Meanwhile,it is independent of coordinate choice and suitable for describing large overall motion of the swarm.The distributed algorithm can be implemented in parallel with a high computational efficiency.Finally,the simulation results demonstrate that the algorithm is applicable and effective in the actual scene.
作者
张祺
黄彬
史东华
Zhang Qi;Huang Bin;Shi Donghua(School of Mathematics and Statistics,Beijing Institute of Technology,Beijing 100081,China)
出处
《动力学与控制学报》
2022年第3期89-98,共10页
Journal of Dynamics and Control
基金
国家自然科学基金资助项目(11872107)。
