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为了降低多机器人围捕中的通信量,提高多机器人系统对未知环境的适应性,提出了一种基于模糊控制协调策略的多自主机器人围捕方法.围捕机器人根据感知范围内同伴和目标的分布,从L模糊控制器、R模糊控制器和M模糊控制器中选取合适的一个用以控制和最邻角同伴之间的夹角,进而实现多机器人之间的局部协调,结合基于局部感知的目标跟踪,在围捕过程中保持一定夹角或者以较合适的方式绕过障碍物,完成对智能入侵者的围捕.实验结果验证了该方法的可行性.
In order to reduce the communication volume in multi-robot roundabout and improve the adaptability of multi-robot system to unknown environment, a multi-autonomous robot roundabout method based on fuzzy control coordination strategy is proposed. According to the distribution of peers and targets in the perceived range, L fuzzy controller, R fuzzy controller and M fuzzy controller to control the angle between them and the nearest neighbor, so as to realize the local coordination among multi-robots, and to combine the target tracking based on local perception , To keep a certain angle during the process of arresting or bypass the obstacle in a more appropriate way to complete the capture of the intelligent intruder.The experimental results verify the feasibility of the method.