基于人工势场法和Ad-hoc网络的多机器人编队控制

ad-hoc网络具有自组性强、快速组网和高抗毁等特性,以它组网的多机器人编队适用于一些无法预先安装通信设备的特殊场合。但是由于ad-hoc网络的通信覆盖范围有限、网络动态性强,在进行编队控制时如果不考虑编队中机器人之间的通信距离,可能导致机器人因与网络失去联系而脱离编队。为了确保多机器人编队的完整性,在使用势场法进行编队控制时,除考虑目标和障碍物的影响外,同时将机器人之间的通信距离作为一种引力加入传统的环境势场模型。仿真实验的结果证明该方法可以有效地控制ad-hoc方式组网的机器人编队。

Multi-robot Formation Control Using Potential Field for Mobile Ad-hoc Networks

Mobile ad-hoc networks are characterized by selforganization,rapid deployment and fault tolerance.A multi-robot formation supported by mobile ad-hoc networks is suitable to some special situations where the communication devices of mobile networks cannot be preinstalled.However,ad-hoc networks are of limited communication range and frequent topology change.If the communication distance of robot isn't taken into account,some robots will escape from the formation whenever it is not within the communication range of the networks.In order to ensure the integrality of the multi-robot formation, a potential field based approach was proposed,in which the special attractive force caused by inter-robot distance,together with the attractive force and the repulsive forces respectively caused by goal and obstacles,has been taken into account.The results in simulation demonstrate that the approach can effectively control the change of multi-robot formation in mobile ad-hoc networks.