摘要
针对动态领航者按照自身动力学模型运动,多个跟随者机器鱼以其为编队参考点,根据编队要求形成队形并整体跟随领航者运动的问题,提出一种多仿生机器鱼分布式编队控制方案.首先,基于二阶一致性算法给出各跟随者机器鱼估计领航者位姿信息的分布式算法;其次,给出以领航者为参考点的多仿生机器鱼编队描述方法,进而各机器鱼根据编队要求以所估得的参考点信息实时确定其在编队中的期望位姿;再次,各跟随者机器鱼以期望速度和角速度以及所估得的领航者位姿信息为输入,利用模糊控制器确定其速度档位和方向档位,实现编队的形成与保持.仿真和实验结果均表明,所提分布式编队控制方法是有效的,仿生机器鱼群体能够较快形成期望队形并跟随领航者游动.
This paper considers the formation problem of multi-robotic fish, in which all followers take a leader as reference point to form formation and then track it as a whole. For this purpose, a distributed formation control algorithm of multiple biomimetic robotic fish is proposed. Firstly, based on the second-order consensus algorithm, a distributed algorithm for each follower of biomimetic robotic fish estimating the leader pose is proposed. Secondly, the formation description of the multiple biomimetic robotic fish formation with leader as the reference point is proposed. Moreover,according to the formation requirements, each biomimetic robotic fish determines its expected pose in the formation with the estimated reference point information. Thirdly, the biomimetic robotic fish of followers takes the desired speed,angular velocity and the estimated leader pose information as input, and uses the fuzzy controller to determine its speed gear and direction gear, so as to realize formation and maintenance of formations.The simulation and experimental results show that the proposed control method of distributed formation is effective, and the robot fish population can form the desired formation faster and follow the leader.
作者
李宗刚
赵振乾
葛立明
魏文军
LI Zong-gang;ZHAO Zhen-qian;GE Li-ming;WEI Wen-jun(School of Mechatronic Engineering,Lanzhou Jiaotong University,Lanzhou 730070,China;Robotics Institute,Lanzhou Jiaotong University,Lanzhou 730070,China;School of Automation & Electrical Engineering,Lanzhou Jiaotong University,Lanzhou 730070,China)
出处
《控制与决策》
EI
CSCD
北大核心
2019年第1期31-42,共12页
Control and Decision
基金
国家自然科学基金项目(61663020)
关键词
二阶一致性算法
分布式估计
模糊控制器
多仿生机器鱼
编队控制
second-order consensus algorithm
distributed estimation
fuzzy controller
multiple biomimetic robotic fish
formation control
