摘要
研究速度信息未知情形下的群体机器人集结控制问题.分别针对未设置虚拟领导者和设置虚拟领导者两种情形,提出了仅考虑位置信息的观测器和具有网络连通性保持的分布式控制方法.理论分析表明该算法具有网络连通性保持功能,并且保证所有机器人的速度信息收敛到一致,机器人最终也会聚集到一起.数值仿真实验验证了所提出分布式控制算法的有效性.
This paper mainly researches the rendezvous control problem of swarm robots without velocity information. For the two cases without a virtual leader and with a virtual leader, distributed predictors are designed and distributed control algorithms are proposed with only position information measurement while the connectivity is preserved. Theory analysis shows that the proposed control algorithms can keep the robot network connected, and the velocity of all robots can converge to the same value and the position information can reach consensus. Finally, simulation experiments show the effectiveness of the proposed distributed control algorithms.
出处
《控制与决策》
EI
CSCD
北大核心
2013年第5期791-796,共6页
Control and Decision
基金
国家自然科学基金项目(51175394)
湖北省国际合作重点项目(2011BFA012)
关键词
集结
群集控制
连通性
分布式观测器
rendezvous
swarm control
connectivity
distributed predictor
