控制理论与应用2018，Vol.35Issue(1)：110-120,11.DOI:10.7641/CTA.2017.60918
分布式多机器人运动控制的离散事件系统方法
Distributed approaches to motion control of multiple robots via discrete event systems
摘要
Abstract
Classical motion control of multi-robot systems is dependent on the dynamic or kinematic equations,where the input control signals for robots are obtained by solving a set of differential equations. With the increase of the number of robots in a system and the more complexity of environment, it is hard to describe the behavior of robots exactly by only applying the dynamic equations and cannot deal well with some logical problems, such as deadlocks. This paper summarizes the state-of-the-art motion control technologies,especially emphasizes our research work with regard to the application of discrete event systems(DESs)on the motion control of multi-robot systems.The motivations are as follows. 1)DES-based motion control can deal with the logical problems,such as deadlocks,during the evolution of the system. First,use the DES models to formalize the motion of a multi-robot system;this can reduce the computation complexity. Second,based on the DES models,design distributed safe control algorithms for robots to avoid collisions and deadlocks, as well as guarantee that they can move independently;design distributed robust control algorithms such that the failures of robots have the least detrimental effect on the system. 2)DES-based motion control can be combined with the kinematic equation-based motion control such that the system can not only resolve high-level logical problems but also determine the input signals of the actuators of robots.关键词
多机器人系统/运动控制/离散事件系统/分布式算法Key words
multi-robot systems/motion control/discrete event systems/distributed algorithms分类
信息技术与安全科学引用本文复制引用
周远,胡核算,刘杨,林尚威..分布式多机器人运动控制的离散事件系统方法[J].控制理论与应用,2018,35(1):110-120,11.基金项目
国家自然科学基金项目(61573265,61203037,51305321),新加坡教育部Tier 1科研基金(2014-T1-001-147),新加坡教育部Tier 2科研基金(MOE 2015-T2-2-049)资助.Supported by the National Natural Science Foundation of China(61573265,61203037,51305321),the Academic Research Fund Tier 1 by Ministry of Education in Singapore (2014-T1-001-147) and the Academic Research Fund Tier 2 by Ministry of Education in Singapore (MOE2015-T2-2-049). （61573265,61203037,51305321）
