摘要
针对群机器人搬运队形的形成问题提出了一种自组织人工社会职位法.该方法中每个机器人R_i在每个采样时刻都按如下步骤工作.首先R_i运用文中给出的人工社会职位法确定自己的搬运点.然后R_i的人工力矩控制器驱动R_i向着自己的搬运点运动一步,其中由于文中改进了该控制器中吸引线段及吸引点的求解方法,从而降低了计算量而机器人仍能光滑安全地运动到自己的搬运点.下一个时刻重复上述步骤直到形成满足条件的搬运队形.该方法不仅原理简单计算量少且无论搬运队形多复杂,系统总能快速地形成满足条件的搬运队形.仿真结果表明文中所提方法是可行且有效的.
A self-organizing artificial social position method is proposed for forming complex swarm-robot transport formations. For each robot Ri at each sampling time, the approach works as follows. Firstly, Ri＇s handlingpoint is determined by an artificial social position method. Then, Ri＇s artificial moment motion controller makes it move one step towards its handling-point. Because the method for attractive segments and attractive points in the controller is improved, the computational burden is decreased, and the controller can still make each robot move safely and finally reach its handling-point. The above steps are repeated until the desired formation is achieved. This method is easy to understand and its computational burden is low. Furthermore, no matter how complex the transport formation, the desired formation can be always achieved by self-organization. Simulations indicate that the proposed method is feasible and efficient.
出处
《信息与控制》
CSCD
北大核心
2016年第6期647-652,共6页
Information and Control
基金
辽宁省自然科学基金资助项目(2015020054)
辽宁省教育厅资助项目(L2013121)
机器人技术与系统国家重点实验室(HIT)开放研究项目(SKLRS-2011-MS-03)
关键词
群机器人系统
自组织
搬运队形
人工社会职位法
人工力矩方法
swarm-robot system
self-organizing
transportation formation
artificial social position method
artificial moment method
