摘要
针对多机器人协作围捕问题,提出了一种基于人工力矩的自组织方法。给出了个体机器人的自由运动模型的数学描述和同盟、围捕曲线、吸引点的概念,并且围捕者根据局部信息对吸引点进行了适当的调整。同时设计了围捕者和入侵者的人工力矩运动控制器,使得围捕者在仅知道局部信息的情况下也能相互协调并最终形成理想的围捕队形。最后用Matlab仿真,结果表明,本文给出的自组织围捕方法是行之有效的。
A novel self-organizing approach to cooperative hunting by multi-robot systems is put forward based on artificial moment. In this paper, an individual autonomous planning is mathematically. Alliance, curve of rounded up and attractive points are presented, and the attractive points are adjusted by defenders based on local information. We employ We proposed rule to design invaders controller and defenders control- ler, and make the defenders to form ideal hunting formation by the interaction cooperative between the target and individuals based on local information. Finally, the matlab simulations demonstrate the feasibility and ef- fectiveness of proposed approach hunting by multi-robot systems.
出处
《辽宁科技大学学报》
CAS
2015年第6期451-456,477,共7页
Journal of University of Science and Technology Liaoning
基金
辽宁省自然科学基金项目(2015020054)
辽宁省教育厅项目(L2013121)
机器人技术与系统国家重点实验室(HIT)开放研究项目(SKLRS-2011-MS-03)
关键词
多机器人
自组织
局部信息
人工力矩
multi-robot systems
artificial moment
self-organizing
local information
