基于虚拟结构优化模型的多机器人编队形成方法

Formation Method of Multi-robot Formation Based on Virtual Structure Optimization Model

虚拟结构法可以使多机器人保持高精度的队形编队,本文提出一种基于进化算法的虚拟结构优化模型,以虚拟队形中心坐标和第一个预定节点的方向角为设计变量,通过进化迭代得到最优的期望队形和各机器人与固定节点的分配方法。仿真结果表明,该方法能够让多机器人形成期望的正n边形编队和直线型编队。

The virtual structure approach can guarantee the high-precision formation of multi-robots.This paper proposes a virtual structure optimization model based on evolutionary algorithm.The center coordinates of the virtual formation and the orientation angle of the first predetermined node are used as the design variables.The evolutionary iteration yields the optimal expected formation and the allocation method between robot and fixed node.The simulations demonstrate that this approach is capable of achieving regular n polygon formation and linear formation for multi-robot.