摘要
论文对水下机器人的编队控制进行研究,针对领航跟随法和基于行为法各自的缺点,论文将领航跟随法和基于行为法两种控制方法相结合,设计了多水下机器人队形控制的几种基本子行为奔向目标、避障碍物、避碰、保持队形,用粒子群算法优化几种行为方式构造的适应度函数,提高多水下机器人整体编队队形控制的容错性。通过Matlab仿真平台对队形形成、队形保持、队形变换进行仿真。从仿真实验结果表明,所提出的算法提高了编队队形控制的稳定性。
In this paper,the formation control of underwater robots is studied. In view of the shortcomings of leader-followermethod and behavior-based method,this paper combines Leader-follower and behavior-based control methods to design that themulti-Several basic sub-behaviors are directed toward the target,avoiding obstacle,avoiding collision,maintaining the formation,and using the particle swarm optimization algorithm to optimize the fitness function of several behavior modes to improve the fault tol-erance of the whole formation control of multi-underwater robot. Through the Matlab simulation platform for the formation of forma-tion,formation to maintain,formation transformation simulation. The experimental results show that the proposed algorithm im-proves the stability of formation control.
作者
刘瑞轩
张永林
LIU Ruixuan;ZHANG Yonglin(School of Electrical and Information,Jiangsu University of Science and Technology,Zhenjiang 212003)
出处
《计算机与数字工程》
2019年第2期349-353,共5页
Computer & Digital Engineering
关键词
多水下机器人
编队控制
粒子群算法
基于行为法
multi-underwater robot
formation control
particle swarm optimization
behavior-based method
