摘要
利用图论表示机器人编队模型,用改进的邻接矩阵表示机器人之间的位置关系,用人工势场法对多机器人编队群集运动进行控制,改进的控制律可以使多机器人达到希望的队形,并共同以预定的速度行进。然后用李亚普诺夫稳定性理论进行分析,得出在此控制律下的多机器人系统可以进行稳定的编队群集运动。
In this paper,graph theory is used to formulated robot formation model,using a modified adjacency matrix representing the position relationship between the robots.The movement of multi-robot formation is controlled by the method of artificial potential field,and improved the knowing control law.The improved multi-robot control law can achieve the desired formation,and march together to a predetermined speed.And then the stability is analyzed by Lyapunov theory,and the multi-robot systems which is obtained under such control law.
出处
《火力与指挥控制》
CSCD
北大核心
2013年第1期18-21,共4页
Fire Control & Command Control
基金
国家自然科学基金(60875071)
高等学校博士点基金资助项目(200806990008)
关键词
编队
人工势场
图论
稳定性
formation
artificial potential field
graph theory
stability
