摘要
提出一种将行为控制和反馈控制相互融合的多机器人混合编队控制方法.采用基于行为的体系结构模型,将动态死区和动力学方程控制共同应用于多机器人编队控制中,从而改善了基于反馈的跟随领航者方法不能快速适应大角度队形变换的问题.在AmigoBot机器人平台上的实验证明,该方法具备一定的可行性.
A hybrid formation control of multi-robot system, combined with behavior-based method and feedback-based method, is presented. The multi-robot formation control is implement by the deadzone and dynamic equations. The method overcomes the problems of fluctuation in behavior-based control. It is also proved that the method can meet the wide-angle transformation which can not be achieved by the following leader＇s method based on feedback control. Experiments based on the AmigoBot robot platform shows it has better results comparing with several different methods.
出处
《北京邮电大学学报》
EI
CAS
CSCD
北大核心
2008年第6期38-41,共4页
Journal of Beijing University of Posts and Telecommunications
