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针对leader-follower编队方法的不足,引入分散化编队控制策略并提出了基于PSO算法的虚拟领航者的多机器人编队控制方法。引入一个基于改进PSO算法进行路径规划的虚拟领航者,控制编队方向;同时通过信息共享,领导者带领追随者跟踪虚拟领航者的踪迹,完成编队队形维护和控制,从而有效地避免队形陷入局部最优及避免角度的骤变引起队形不稳的问题。在仿真平台上进行仿真和分析,在实物平台得以验证。
In order to overcome the deficiency of leader-follower formation method, a decentralized formation control strategy is introduced and a multi-robot formation control method based on PSO algorithm is proposed. A virtual leader based on improved PSO algorithm is introduced to control formation formation. At the same time, leaders share follow-up information to track the trail of virtual leader, and complete formation formation maintenance and control so as to effectively avoid squad formation The problem of instability caused by the local optimization and avoidance of sudden changes. Simulation and analysis on the simulation platform, in the physical platform to be verified.