摘要
本文对研究多移动机器人保持队形的方法进行了分析 ,提出一种实现多移动机器人保持队形和控制的协调体系结构 ;将基于行为的方法和队形反馈应用于该结构上 ,提出了控制策略 ,并从理论上证明了系统是渐进稳定的 ,仿真实验表明控制策略是合理的。
Approaches to the study of keeping formation for multiple mobile robots are analyzed in this paper. And a kind of coordination architecture is presented, which is used to realize multiple mobile robots to keep formations. Behavior-based approach and formation feedback are applied to the architecture, and the control strategies are presented. Then the system is proved to be asymptotically stable in theory, and simulations show the reasonability of the control strategies.
出处
《机床与液压》
北大核心
2003年第3期167-169,共3页
Machine Tool & Hydraulics
关键词
多移动机器人
体系结构
基于行为法
队形反馈
Mrltiple mobile robots
Architecture
Behavior-based
Formation feedback
