信息与控制2016，Vol.45Issue(6)：647-652,6.DOI:10.13976/j.cnki.xk.2016.0647
群机器人复杂搬运队形形成的人工社会职位法
Artificial Social Position Method for Forming Complex Swarm-robot Transport Formations
摘要
Abstract
A self-organizing artificial social position method is proposed for forming complex swarm-robot transport formations.For each robotRi at each sampling time,the approach works as follows.Firstly,Ri's handlingpoint is determined by an artificial social position method.Then,Ri's artificial moment motion controller makes it move one step towards its handling-point.Because the method for attractive segments and attractive points in the controller is improved,the computational burden is decreased,and the controller can still make each robot move safely and finally reach its handling-point.The above steps are repeated until the desired formation is achieved.This method is easy to understand and its computational burden is low.Furthermore,no matter how complex the transport formation,the desired formation can be always achieved by self-organization.Simulations indicate that the proposed method is feasible and efficient.关键词
群机器人系统/自组织/搬运队形/人工社会职位法/人工力矩方法Key words
swarm-robot system/self-organizing/transportation formation/artificial social position method/artificial moment method分类
信息技术与安全科学引用本文复制引用
徐望宝,荣根熙,祝超超,吴文波..群机器人复杂搬运队形形成的人工社会职位法[J].信息与控制,2016,45(6):647-652,6.基金项目
辽宁省自然科学基金资助项目(2015020054) （2015020054）
辽宁省教育厅资助项目(L2013121) （L2013121）
机器人技术与系统国家重点实验室(HIT)开放研究项目(SKLRS-2011-MS-03) （HIT）
