| 实时位置反馈的多机器人主从式编队控制 |
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| 引用本文： | 张明,严卫生,高剑.实时位置反馈的多机器人主从式编队控制[J].火力与指挥控制,2012,37(2):12-15. |
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| 作者姓名： | 张明 严卫生 高剑 |
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| 作者单位： | 西北工业大学航海学院,西安,710072 |
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| 摘 要： | 提出了一种基于反馈控制的多机器人的编队控制方法,能够使主从机器人在相对运动时保持期望的角度和距离,并且形成稳定的编队结构。然后运用数学图论将单一主从式编队控制扩展到多机器人的编队控制,能够更加简易的实现编队控制和几何形状的变换,最后通过仿真验证了该方法的有效性。
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| 关 键 词： | 主从式编队 反馈控制 移动机器人 图论 |
Study on Leader-Following Formation Control of Multi-Robots Based on Real-Time Location Feedback |
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| ZHANG Ming
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YAN Wei-sheng
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GAO Jian.Study on Leader-Following Formation Control of Multi-Robots Based on Real-Time Location Feedback[J].Fire Control & Command Control,2012,37(2):12-15. |
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| Authors: | ZHANG Ming YAN Wei-sheng GAO Jian |
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| Institution: | (School of Marine Engineering,Northwestern Polytechnical University,Xi’an 710072,China) |
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| Abstract: | A feedback based formation control method for multi-robots is presented,which enable group robots to achieve predetermine formation with the desired angle and distance,and form a steady formation structure.Then,graph theory is introduced to specify formation patterns in a simple but effective way,which can make the formation control and geometric change more easily.Finally,the simulation shows the effectiveness of the control method. |
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| Keywords: | leader-following formation feedback-based control mobile robots graph theory |
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