【作者】 杨宇；

【导师】 方华京；

【作者基本信息】 华中科技大学 ， 控制理论与控制工程， 2007， 硕士

【摘要】 近年来,多机器人运动规划问题渐渐成为机器人学中研究的热点问题。多机器人的运动规划主要包括避障避碰、群集运动、编队控制三种控制行为。多机器人的群集控制要使整个机器人队伍具有分离性、队列性和凝聚性;而多机器人的编队控制要使一队机器人在运动时保持一个期望的队形,并为系统提供冗余性和结构的灵活性。本文主要是基于图论和人工势场理论对多机器人的编队群集运动开展了进一步的研究。论文首先对国内外学术界关于多机器人运动规划(包括避障规划、编队控制,群集运动控制)的研究工作进行了综述,并把综述的重点放在多机器人编队控制的问题上。其次,对图论进行了概述,并对应用图论的文献进行了归纳总结,然后详细介绍了图论和人工势场法相结合的多机器人编队方法。接着对基于图论和人工势场法的多机器人群集控制方法进行了改进,使之能够使多机器人在群集运动的同时形成预定的队形,然后对改进的方法证明了其稳定性。再次,通过对已有的减少通信方法的分析,并基于图论和人工势场理论,提出了一种改进的编队群集运动控制律,它能明显的减少机器人间的通信量,使多机器人系统可以适应一些对通信量有严格要求的环境。最后,对论文中提出的一些结论和文献综述中提到的一些控制方法进行了一系列的仿真实验,并对仿真结果进行了分析。实验结果表明了本论文研究的基于图论和人工势场理论的多机器人编队群集控制和减少通信量的控制规则的可行性和有效性。更多还原

【Abstract】 Motion planning of multiple robots is becoming a hot topic in robot field in recent years. Motion planning of multiple robots includes obstacle avoidance (collision avoidance), flocking and formation control. Flocking control makes the group of robots have the characteristics of separation, alignment and cohesion. Formation control makes a robot team maintain a desired formation and provide redundancy and structural flexibility. The formation and flocking control based on graph theory and artificial potential field method (APF) is further researched in this thesis.This thesis firstly made a summary of the motion planning (included obstacle avoidance, flocking and formation control) in domestic and foreign academic filed, and focused on formation control issues of multiple robots.Secondly, the outline and application of graph theory are summarized. The formation control based on graph theory and APF is detailedly introduced. The flocking control based on graph theory and APF is improve to make the multiple robots reach a desired formation, at the same time the stability of the improved method has been proved.Thirdly, through the analysis of the method of reducing the communications, an improved formation and flocking control law based on graph theory and APF is presented to reduce the communications among multiple robots, and make the multiple robots system adapt to the environment which has strict requests for traffic.At last, simulations are presented about some conclusions and control laws in literature, and the results are analyzed. The results of simulations demonstrate the feasibility and validity of formation and flocking control law (based on graph theory and APF) and the control law of reducing communications.更多还原