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队形切换是多机器人编队的重要研究内容。针对未指定各机器人ID与目标位置对应关系情况下如何实现分布式多机器人编队队形切换的问题,本文结合自然界鸟群、鱼群等群生物的觅食行为建立了一种新的诱饵-捕食者系统,并将该系统应用到分布式多机器人编队的队形切换控制中。视编队中各机器人为捕食者,各目标位置为诱饵,通过捕食者与诱饵之间的相互作用,实现不同队形之间的切换。同时针对捕食者所受到的各种影响都建立了具体的数学模型。该方法在解决队形切换过程中无需预先规划各机器人的运动路径,可在分布性较强的编队中应用。仿真实验表明该控制策略对于分布式多机器人编队的队形切换有较好的适用性,为多机器人编队进行队形切换提供了新的思路和方法。
Formation switching is an important research topic for multi-robot formation. Aiming at the problem of how to realize the formation of distributed multi-robot formation switching without specifying the correspondence between each robot ID and the target position, this paper establishes a new decoy-prey based on the foraging behavior of flocks, System, and apply the system to the formation switching control of distributed multi-robot formation. Depending on the robots in the formation team as predators and the target locations as decoys, the interaction between predators and bait can be achieved by switching between different formations. At the same time, specific mathematical models have been established for all kinds of impacts on the predators. This method can solve the problem of team formation switching without pre-planning the movement path of each robot, which can be applied in the formation with strong distribution. The simulation results show that the proposed control strategy has good applicability to the formation switching of distributed multi-robot formation and provides a new idea and method for multi-robot formation formation switching.