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利用人工鱼群优化(AFSO)方法研究了多机器人的队形控制问题。机器人编队可视为寻迹问题,而编队寻迹是不断减小机器人与其期望编队位置之间的平移和角度误差的优化过程。每一个机器人的控制指令可看做是人工鱼群,通过一系列的控制实现期望队形。队形控制策略中包含机器人间的冲突规避行为。利用Matlab中的多机器人仿真器MRsim工具进行了仿真,结果表明,提出的方法具有很高的有效性和效率,适用于各种形式的队形,可以被广泛应用在没有精确系统模型的无线传感器网络中。
Artificial fish swarm optimization (AFSO) method was used to study multi-robot formation control. Robot formation can be considered as a tracing problem, and formation tracing is an optimization process that continuously reduces the translational and angular errors between the robot and its desired formation. Each robot’s control instructions can be seen as artificial fish, through a series of control to achieve the desired formation. The formation control strategy includes collision avoidance behavior among robots. The simulation results show that the proposed method has high efficiency and efficiency and can be applied to all kinds of formation. It can be widely used in wireless sensor without accurate system model Network.