控制理论与应用2009，Vol.26Issue(11)：1232-1238,7.
一种基于人工力矩的动态队形控制方法
A dynamical formation control approach based on artificial moments
摘要
Abstract
First, the optimal correspondence of distance is defined for robots' corresponding vertexes. For its determi-nation, we give an elimination method, including the model, the principle and the steps of operation. Next, two new types of artificial moments are defined, based on which the robots' motion controllers are designed to make robots avoid various obstacles and keep in a desired formation. Thus, a general approach for dynamical formation control is developed which not only makes robots dynamically realize the desired formations, but also minimizes the time for the process of formation by optimizing robots' corresponding vertexes. Simulation results demonstrate the feasibility and effectiveness of the proposed method.关键词
队形控制/人工力矩/多机器人系统/避障Key words
formation control/ artificial moment/ multi-robot systems/ obstacle avoidance分类
信息技术与安全科学引用本文复制引用
徐望宝,陈雪波..一种基于人工力矩的动态队形控制方法[J].控制理论与应用,2009,26(11):1232-1238,7.基金项目
国家自然科学基金资助项目(60874017):机器人技术与系统国家重点实验室开放研究资助项目(哈尔滨工业大学)(SKLRS200703) （60874017）
辽宁省"高等学校优秀人才支持计划"资助项目(2006R31) （2006R31）
"高等学校创新团队支持计划"资助项目(2007T082). （2007T082）
