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提出一种分层拓扑结构作为机器人群体在动态期望区域内的编队队形,并在此基础上设计一种基于分层拓扑的群体编队及避障控制器,邻域内各层层间机器人之间的通信是双向的.多机器人通过虚拟领导者的引导向动态期望区域内运动,并在邻居个体间的局部交互下形成期望编队控制队形,机器人群体速度达到一致,个体间距离稳定,从而实现编队和避碰.控制器中形状调节力用于调整和保持机器人群体队形,解决编队中因可能出现局部极小值而导致某些机器人死锁的问题.仿真实验表明了该算法是有效性的.
A layered topological structure is proposed as a formation formation of a group of robots in a dynamic expectation region. Based on this, a group formation and obstacle avoidance controller based on a hierarchical topology is designed. Between layers of layers of robots in the neighborhood Is bi-directional.Multi-robot moves to the dynamic expectation area through the guidance of the virtual leader and forms the desired formation control formation under the local interaction between the neighboring individuals, the speed of the robot population is consistent and the distance between individuals is stable, so as to achieve Formation and collision avoidance.The shape adjustment force in the controller is used to adjust and maintain the formation of the robot group and solve the problem of some robots deadlock caused by local minima in the formations.The simulation results show that the algorithm is effective of.