未知环境中群机器人队形移动

群机器人学是多机器人系统的一个重要研究方向,其主要特点是系统包含大量个体.如何控制不受数量限制的群机器人形成队形并在未知环境中移动,是一个极具挑战性的问题.基于人工物理原理分析了群机器人网格队形分布和移动控制原理,制定了详细的系统性能评价指标(稳定时间、碰撞次数、覆盖率、连接数、簇数、分布密度等参数),提出了采用曲线拟合法构建虚拟力模型.通过在有障碍物环境中的仿真,显示出该方法可以鲁棒、有效的完成网格分布和移动任务.最后指出了今后的研究方向.

Moving swarm formations in unknown environment

Swarm robotics is one of the important research directions of multi-robot systems,it's major feature is that the system includes many robots.How to control swarm formation in unknown environment is a challenging problem.The principle on grid distribution control of swarm robots is analyzed based on artificial physics,some performance judgment parameters (such as stabilization time,col- lision times,overlay rate,connection number,cluster number,distributing density and so on) is put forward.Meanwhile,the virtual force model to use curve-fitting method is extended.The experimental result shows that this method can accomplish the grid distributing control robustly and efficiently in an unknown environment.At last,the directions of further research are proposed.