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为了得到一种一般性的队形控制方法,首先给出了一种新的队形表示图:吸引线段式主-从队形图和组群机器人的系统模型.然后基于上述成果和文中定义的两种人工力矩:主吸引矩和从吸引矩,提出了一种新的队形控制方法:人工力矩法.文中介绍了该方法的基本原理,并给出了机器人运动控制器的数学模型.最后运用Liapunov稳定性定理证明了系统的稳定性并给出了仿真.理论和仿真结果表明,给出的队形表示图和队形控制方法是可行且有效的.
In order to get a general method of formation control, a new representation of formation is given first: a system model of line-segment master-slave formation graph and group robot is drawn in. Then based on the above results and the definition of Two kinds of artificial moment: main attraction moment and aspiration moment, a new formation control method: artificial moment method is presented.The basic principle of this method is introduced in this paper, and the mathematical model of the robot motion controller is given. The stability of the system is proved by the Liapunov stability theorem and the simulation is given. The theoretical and simulation results show that the given formation chart and formation control method are feasible and effective.