| 多机器人编队控制 |
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| 引用本文： | 谭永丽,方彦军,李莎.多机器人编队控制[J].培训与研究,2010(8):92-94. |
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| 作者姓名： | 谭永丽 方彦军 李莎 |
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| 作者单位： | [1]湖北第二师范学院机械与电气工程系,武汉430205 [2]武汉大学动力与机械学院,武汉430074 |
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| 摘 要： | 编队控制是多机器人协调控制系统设计中的典型问题,本文阐述了一种基于行为的混合分层体系结构,该系统以基于反应式结构的三种基本行为为基础,运用加权平均的行为选择机制进行控制。经过仿真实验证明,该算法能实现多机器人在有障碍物情况下自动避障,并在远离障碍物时自动恢复队形,达到了良好的编队控制效果。
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| 关 键 词： | 多机器人编队 基于行为 体系结构 |
Formation Control of Multi-Robot |
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| TAN Yong-li,FANG Yan-jun,LI Sha.Formation Control of Multi-Robot[J].Training and Research-Journal of Hubei College of Education,2010(8):92-94. |
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| Authors: | TAN Yong-li FANG Yan-jun LI Sha |
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| Institution: | 1.Department of Mechanical and Electrical Engineering,Hubei University of Education;2.Power and Mechanical College,Wuhan University,Wuhan 430205,China) |
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| Abstract: | The multi-robot formation control is the typical problem of the multi-robot cooperation control system.This paper introduces a hybrid architecture,the fundament of which is three behaviors based on the reactive architecture.Using the weighted-average behaviors selection mechanism to control.The simulation results show that the algorithm can achieve in multi-robot automatic obstacle avoidance and recovery formation away from obstacle.The simulation results validate the good control effect of this method. |
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| Keywords: | multi-robot formation behavior-based architecture |
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