基于完整度评价指数的编队控制方法研究

Research on a Formation Control Method Based on Integrity Evaluation Index

机器人在采用虚拟结构法编队行进时,编队刚性队形的位置约束对算力要求比较高,进而对机器人搭载的运算设备要求较高。针对上述问题,提出一种基于完整度评价指数的编队控制方法,在编队队形形成之后,通过评估编队队形完整度评价指数,机器人可以自主选择编队队形采用速度或位置约束方式,以实现编队控制。仿真实验结果表明,与虚拟结构法相比,采用完整度评价指数的编队控制方法能保持编队队形稳定,并可减少运算次数,节省机器人算力。

A relatively high computility is required because of the rigid formation position constraint when the virtual structure method is used to create a formation.The higher computing equipment carried by the robot is required.In this paper,a formation control method based on the integrity evaluation index is proposed.In formation control,the robots can choose autonomic speed constraints or position constraints by evaluating the formation integrity evaluation index.The simulation results show that the formation control method using the integrity evaluation index can still maintain a stable formation comparing with the virtual structure method.And it can reduce calculation and save the computility of the robot.