摘要
编队控制是多机器人协作任务执行的关键问题,本文研究了基于竞拍机制的多移动机器人实时编队控制问题。由于在多移动机器人围捕等一些任务中存在时间约束条件,提出了整体时间最优的投标策略。设置了实时监督机制以保证在编队能根据机器人数目的变化进行调整。设计了能够同时适应竞标机制与物理系统的行为及运动控制方式。并通过物理实验验证了该编队控制的可行性及灵活性。
Formation control is a key issue of multi-robot cooperative task execution. An auction-based real-time multirobot formation control is studied in this paper for this issue. First,a time-optimal auction strategy is devised to deal with time restricts in some multi-robot tasks such as cooperative hunting. Moreover,a real-time monitor mechanism is set up to ensure that the formation can be restructured according to the change of robot number. In addition,a suite of behaviors and motions is designed for both the auction mechanism and the physical system. Physical experiment was carried out to demonstrate the feasibility and flexibility of the proposed formation control.
出处
《科技通报》
北大核心
2010年第2期206-212,共7页
Bulletin of Science and Technology
基金
国家自然科学基金资助项目(60675043)
浙江省科技计划项目(2007C21051)
杭州电子科技大学科研启动基金资助项目(KYS09150543)
关键词
多移动机器人
实时编队控制
投标机制
编队行为
实时监督
multiple mobile robots
real-time formation control
auction-based mechanism
formation behavior
real-time monitor
