摘要
针对多智能体协作完成特定任务时难以在全自主控制的前提下协作形成任意队形和队形向量不易确定的问题 ,通过由各智能体自主简单的确定自己的队形向量 ,从理论上扩展基于队形向量的队形控制原理以生成任意队形 ,改进机器人的运动方式以提高收敛速度 ,提出一种快速收敛的机器人部队任意队形分布式控制算法 .仿真结果表明 ,该算法可以形成任意队形 ,比现有控制算法的收敛速度快 ,队形收敛所需的时间仅为现有算法的 10
Because of the difficulties in generating arbitrary shape cooperatively and determining formation-vectors autonomously for multiple mobile robots when multiple mobile robots are to achieve a common task, an autonomous formation-vector determination method is first proposed for every agent. And then a formation-vector-based control algorithm is extended theoretically to generate given arbitrary formation shape and a robot motion strategy is improved to shorten convergence time. Finally, a quick-converging distributed algorithm for generating arbitrary shape of multiple mobile robot group is proposed. The simulation results show that the robot group can converge at given arbitrary formation shape and the convergence time is only 10 percent or so, compared with the existing algorithms.
出处
《计算机研究与发展》
EI
CSCD
北大核心
2002年第10期1274-1280,共7页
Journal of Computer Research and Development
基金
国家自然科学基金 ( 6 99850 0 2 )
国家"八六三"高技术研究发展计划自动化领域智能机器人主题 ( 86 3- 51 2 - 80 5)资助
