机器人2011，Vol.33Issue(4)：385-393,9.DOI:10.3724/SP.J.1218.2011.00385
动态阻尼环境下多领导者群体机器人系统协同跟踪控制
Coadaptive Following Control of Swarm Robot System with Multiple Leaders in Dynamic Damping Environment
摘要
Abstract
Coadaptive following problem of swarm robot system with multiple leaders in dynamic damping environment is studied. Ant colony algorithm is adopted to identify the leader for agents to follow, which is based on both the local following information of its neighbors and the requirements of the leaders. In order to realize following, this method can divide the swarm into different sub-groups in accordance with the requirements of leaders. Fuzzy adaptive method is utilized to adjust the parameters of the controller, so that the swarm robot system can overcome the impact of the dynamic damping factors in the environment. The simulation results testify the validity of the presented algorithms.关键词
群体机器人系统/多领导者/蚁群算法/阻尼环境/协同控制Key words
swarm robot system/ multiple leaders/ ant colony algorithm/ damping environment/ coadaptive control分类
信息技术与安全科学引用本文复制引用
刘宗春,田彦涛,李成凤..动态阻尼环境下多领导者群体机器人系统协同跟踪控制[J].机器人,2011,33(4):385-393,9.基金项目
国家自然科学基金资助项目(60675057). （60675057）
