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一类基于势场原理的群集控制理论正逐步应用于多agent(智能体)/机器人稳定协同运动中.针对群集运动系统在非规则障碍物环境中运行时易出现的局部极小问题,引入基于行为的机器人学理念,构成多移动机器人多模态群集控制系统.在此框架内,仿生的动物沿端行为与有序化群集运动控制策略相融合,实现了多移动机器人系统快速聚合行为与高效避障行为的统一.移动机器人仿真实验验证了该方法的有效性.
A class of theory of cluster control based on the potential field theory is gradually applied in the multi-agent / robot stable coordinated movement. Aiming at the local minima that is prone to occur when the cluster kinematic system is operating in an irregular obstacle environment, Behavioral robotics concept to form a multi-modal cluster control system for multi-mobile robots.In this framework, the behavior of the bionic animals along the end is integrated with the orderly clustered motion control strategy, and the multi-mobile robot system converges quickly and efficiently The unification of obstacle avoidance behaviors.Mobile robot simulation experiment verifies the effectiveness of this method.