摘要
围捕任务是多机器人系统具有挑战性的任务之一,其综合了多机器人系统多方面的技术,其相关技术在多机器人的编队巡逻、环境侦查、编队进攻等任务中都有应用。首先提出一种基于条件反馈机制的Leader-follower多机器人队形控制方法,然后将有限状态机原理利用在多机器人协作围捕中,将围捕过程中的各个运行阶段定义为不同的状态,在每种状态内部分别执行形成队形、保持队形和转换队形。通过这种方式,提高了程序模块的使用效率,并使编队运动成为围捕任务的执行手段,通过实例仿真验证了本方法的有效性。
Capturing task is a very challenging task in the multi-robot system, which involves various technical in the muhi-robot and its related technologies in the formation of robot, environmental investigation, formation patrol mission and formation attacking are very useful. Firstly, this paper proposes a method of muhi-robot formation control based on the condition feedback mechanism Leader-follower, and then uses the principle of finite state machine in multi-robot collaboration capturing, divides capturing process of each stage into different definitions of state, each state internal respectively implements formed formation, keep formation and transformation formation. In this way, it improves the usage efficiency of the program modules, and that makes the formation become capturing means, through the simulation result, it verifies the effectiveness of the proposed method.
出处
《电子设计工程》
2010年第10期21-24,共4页
Electronic Design Engineering
