仅考虑位置信息连通性保持的群体机器人集结控制.pdfVIP

第28 卷 第5 期 控 制 与 决 策 2013 年 5 月 Vol. 28 No. 5 Control and Decision May 2013 文章编号: 1001-0920 (2013) 05-0791-06 仅考虑位置信息连通性保持的群体机器人集结控制 李文锋, 董文涛 (武汉理工大学物流工程学院，武汉430063) 摘 要: 研究速度信息未知情形下的群体机器人集结控制问题. 分别针对未设置虚拟领导者和设置虚拟领导者两种 情形, 提出了仅考虑位置信息的观测器和具有网络连通性保持的分布式控制方法. 理论分析表明该算法具有网络连 通性保持功能, 并且保证所有机器人的速度信息收敛到一致, 机器人最终也会聚集到一起. 数值仿真实验验证了所提 出分布式控制算法的有效性. 关键词: 集结；群集控制；连通性；分布式观测器 中图分类号: TP273 文献标志码: A Rendezvous control of swarm robots with only position information while connectivity preserved LI Wen-feng, DONG Wen-tao (School of Logistics Engineering，Wuhan University of Technology ，Wuhan 430063 ，China ．Correspondent ：DONG Wen-tao ，E-mail ：wentao dong@163.com) Abstract: This paper mainly researches the rendezvous control problem of swarm robots without velocity information. For the two cases without a virtual leader and with a virtual leader, distributed predictors are designed and distributed control algorithms are proposed with only position information measurement while the connectivity is preserved. Theory analysis shows that the proposed control algorithms can keep the robot network connected, and the velocity of all robots can converge to the same value and the position information can reach consensus. Finally, simulation experiments show the effectiveness of the proposed distributed control algorithms. Key words: rendezvous ；swarm control；connectivity ；distributed predictor 0 引引引 言言言 [9] 针对群集行为的可控研究, Tanner 等 给出的 群体机器人研究吸引了来自计算机科学、自动 群集控制方法没有考虑目标导向agent; Olfati-Saber [1