节点文献
基于聚类算法的群体机器人聚集运动协调性研究
The Research on Groups of Robots to Gather Motor Coordination Based on Clustering Algorithm
【作者】 郭春阳；
【导师】 杨萍；
【作者基本信息】 兰州理工大学 ， 机械制造及其自动化， 2012， 硕士
【摘要】 群体机器人协作运动系统是群体机器人研究领域的一个重要课题，本论文在查阅大量文献资料的基础上对群体机器人协作系统研究内容和研究现状进行了分析总结。以基于组合式框架聚类算法、意愿强度磋商策略、k-means聚类算法的智能理论为基础，深入探讨了群体机器人协作系统的基本原理，建立群体机器人聚集队形路径规划的数学模型、运动控制模型。采用磋商和意愿强度策略，建立合作式的宏观调控机制，解决群体机器人协作系统的冲突问题。建立复合体体系结构，在此结构下机器人将产生四种控制行为函数，以避免机器人在运动过程中的碰撞，使机器人有效躲避障碍物并保持队形。以PIC单片机为主控制芯片、红外对管传感器为系统输入，直流电机PWM信号为系统输出，开发个体机器人硬件系统，并以智能理论为基础，以面向对象的可视化编程软件为平台，编写机器人硬件控制程序。以k-means聚类算法为基础进行群体机器聚集队形仿真实验，基于已建立的群体机器人实验系统为平台，进行物理实验，验证群体机器人协作系统的可靠与稳定性，证明该方法运用到群体机器人协作系统平台具有良好的效果。
【Abstract】 Group robot cooperative system is all important topic in the robot systemresearch．In this paper，all extensive literature on group based on the informationcontent of robot cooperation system and the current research were analyzed andsummarized．Based on the combination frame clustering algorithm, intend to strengthconsultations strategy, k-means clustering algorithm based on the theory of theintelligence, The group discussed the basic principle of robot cooperation system,establish robot path planning group gathered formation of the mathematical model,the motion control model. The consultation and intend to strength strategy andestablish co-operative macro-control mechanism, solve group conflict robotcooperation system. Build complex system structure, in this structure of robots willbe four control behavior function, in order to avoid the robot in the process ofcollision in sports, make robots effective evades obstacles and keep the formation.Using PIC MCU—based，infrared sensors for the system input,DC motorPWMcontrol signal for the system output， the development of group robotarchitecture，and with intelligence theory as the foundation, the object-orientedvisual programming software for the platform, and write robot hardware controlprocedures.To k-means clustering algorithm based on group gathered for the machine toformation simulation experiment，based on the established system for experimentalgroup robot platform, Physical experiments show that the robot cooperation groupsystem reliable and stability, and proves that the method is applied to the robotcooperation system platform group has good effect.