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针对多机器人对任意队形保持控制算法存在的问题,提出了改良型的多机器人系统模型和控制算法。新方案详细介绍了基于领队机器人一对多的通信方式,机器人可以自主选择对象,并且在新的系统模型和控制算法中领队机器人对其对象,蔽障问题,到达指定目标的多种情形,理论分析表明此方案可以相对准确的减少机器人之间的冲突等待时间,更适合实际应用。
Aimed at the existing problems of arbitrary formation keeping control algorithm of multi-robot, an improved multi-robot system model and control algorithm are proposed. The new scheme details the one-to-many communication based on the leader robot, the robot can independently select the target, and in the new system model and the control algorithm, the leader robot has various problems on its target, barrier problem and reaching the specified target. The theory Analysis shows that this scheme can reduce the collision waiting time between robots relatively accurately, and is more suitable for practical application.