兵工自动化2011，Vol.30Issue(12)：75-78,4.DOI:10.3969/j.issn.1006-1576.2011.12.020
基于位置反馈的多机器鱼编队控制
Formation Control of Multiple Robot Fish Based on Position Feedback
摘要
Abstract
To realize the formation control of multi-robot fish system, this paper presents a new method, a position feedback control strategy, which considering both graph theory and information interaction between the robots. And a concept of reference robot fish is introduced, which means a different fish is set to stay still at any time. Other fish adjust the positions according to the position of reference fish through the information interaction, which can make the robot fish achieve any formation in the limit time. We conduct simulations on the underwater robot polo game 2D simulation platform and give out the experimental results under different situations. Simulation results show the method good integrity, good robustness and the immunity to interference, which verify the effectiveness of the proposed algorithms.关键词
多机器鱼/编队控制/位置反馈/2D仿真平台Key words
multi-robot fish/ formation control/ position feedback/ 2D simulation platform分类
信息技术与安全科学引用本文复制引用
刘舒,禹梅,谢广明..基于位置反馈的多机器鱼编队控制[J].兵工自动化,2011,30(12):75-78,4.基金项目
北京市自然科学基金项目(4092038) （4092038）
