| 行军启发的多机器人紧密队形保持策略 |
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| 引用本文： | 屈云豪,,丁永生,,郝矿荣,,王彤,.行军启发的多机器人紧密队形保持策略[J].智能系统学报,2018,13(5):673-679. |
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| 作者姓名： | 屈云豪 丁永生 郝矿荣 王彤 |
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| 作者单位： | 1. 东华大学 信息科学与技术学院, 上海 201620;2. 东华大学 数字化纺织服装技术教育部工程研究中心, 上海 201620 |
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| 摘 要： | 多机器人协同编队是多机器人研究的关键技术之一，是通过控制队伍中的机器人，使其按照预定的队形进行前进。本文基于领航者-追随者结构的编队控制方法，从军队急行军中得到启发，设计了同列依次替补和末排向内收拢原则，提出多机器人紧密队形保持策略。并引入能耗和队形紧密度两个编队性能评价指标，验证了多机器人紧密队形保持策略的优越性。仿真实验证明了多机器人紧密队形保持策略的有效性。
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| 关 键 词： | 多机器人 行军启发 紧密队形保持 领航者-追随者结构 |
March-inspired multi-robot compact formation strategy |
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| QU Yunhao,,DING Yongsheng,,HAO Kuangrong,,WANG Tong,.March-inspired multi-robot compact formation strategy[J].CAAL Transactions on Intelligent Systems,2018,13(5):673-679. |
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| Authors: | QU Yunhao DING Yongsheng HAO Kuangrong WANG Tong |
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| Affiliation: | 1. College of Information Sciences and Technology, Donghua University, Shanghai 201620, China;2. Engineering Research Center of Digitized Textile & Apparel Technology, Ministry of Education, Donghua University, Shanghai 201620, China |
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| Abstract: | Multi-robot collaborative formation is one of the key technologies of multi-robot research. By controlling the robots in the team, the multi-robot cooperative formation can move forward according to the predetermined formation. Based on the formation control method of the leader-follower structure, and inspired by the rapid march of the army, this paper presents two principles:sequential substitution in the same column and inward convergence in the last row, and a multi-robot compact formation strategy is proposed. Two formation performance evaluation indicators of energy consumption and formation compactness are introduced, which verifies the superiority of the multi-robot compact formation strategy. Finally, the simulation result proves the efficiency of the multi-robot compact formation strategy. |
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| Keywords: | multi-robot march-inspired compact formation leader-follower structure |
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