多機(jī)器人隊(duì)形控制的研究
摘 要
隨著機(jī)器人技術(shù)的發(fā)展，機(jī)器人的應(yīng)用領(lǐng)域向更廣闊的范圍擴(kuò)展。人們希望機(jī)器人不僅僅能夠完成一些簡單的工作，而且還能在復(fù)雜、未知的環(huán)境下完成復(fù)雜的工作任務(wù)。由于許多復(fù)雜任務(wù)是單個(gè)機(jī)器人難以或無法完成的，于是考慮將多個(gè)機(jī)器人構(gòu)成系統(tǒng)，通過相互間的協(xié)調(diào)協(xié)作來完成。多機(jī)器人系統(tǒng)以其柔性、并行性及魯棒性等單個(gè)機(jī)器人所無法比擬的優(yōu)越性受到普遍重視。本文針對(duì)未知環(huán)境下多機(jī)器人協(xié)調(diào)與控制的隊(duì)形問題開展研究工作。本文以近年來隊(duì)形控制方面的研究成果為基礎(chǔ)，做了以下幾方面的討論與研究：提出了一種新的隊(duì)形表示圖——吸引線段式主-從隊(duì)形圖；同時(shí)還定義了兩種類似于勢場函數(shù)但又有自己特點(diǎn)的人工力矩——主吸引矩和從吸引矩；提出了一種時(shí)間最優(yōu)隊(duì)形控制的幾何算法，以解決隊(duì)形控制中最優(yōu)收斂問題，即隊(duì)形變換過程中所需要的時(shí)間最短，有益于各種控制算法的指標(biāo)優(yōu)化?；趯哟慰蓴U(kuò)展形描述框架 HEFF，提出了基于協(xié)商的隊(duì)形動(dòng)態(tài)生成方 法，可以在保持原隊(duì)形形狀不變的情況下動(dòng)態(tài)擴(kuò)展隊(duì)形，以容納新加入隊(duì)形的機(jī)器人，并集成最大優(yōu)先指派算法，實(shí)現(xiàn)了機(jī)器人到隊(duì)形目標(biāo)點(diǎn)的優(yōu)解分派．文中所討論的方法簡單 、靈活，能充分利用機(jī)器人之間的進(jìn)行操作，快速有效地生指隊(duì)形。

關(guān)鍵詞：指派問題  最短時(shí)限   隊(duì)形控制   隊(duì)形切換

More robots formation control research
Abstract
With the development of scientific research on complex system, community system’s troop controls have gradually become international frontier and hot topics of the interdisciplinary research among the community behavior imitation, system complexity science and other subjects. under the special assignation，accomplish their troop behavior for target through communication among the individuals and between system and environment. Considering the current research results and problems of formation control, we have discussed the following several areas of research: Method to Solve the Assignment Problem with the Shortest Time Limit and the Least Cost Constraint An Approach for Determination of Robots’ Vertexes and Application in Formation Control Whether may set up the unified mathematical model to solve the arithmetic diversity problem caused by multi-task. Presents a new type of formation model named attraction-segment leader-follower formation graph. Then, two types of artificial moments: leader attraction moment and follower attraction moment, are defined. This algorithm has solved the constringency-optimal problem of formation control, which is beneficial to target optimization of all control algorithms. A solution to dynamically build formation based on the negotiation using the HEFF(Hierarchical Extend Formation description Frame)was proposed．The formation can be dynamically extended while keeping the same formation shape．At the$alnc time。the MSFA(Max Sum First Assignment)method was integrated into the solution to optilIlizeas signments between robots and objective locations．The solution is simple，flexible。Which utilize robots’parallel operations and be used to buildthe formation effectively and quickly.

Key words: assignment problems ;   the shortest time limit；  formation control ;    formation rcconfigum;

目  錄
摘 要 I
Abstract II
第一章  緒論 1
1.1 引言 1
1.2 多機(jī)器人系統(tǒng)研究的主要內(nèi)容 2
1.2.1  群體體系結(jié) …………………………………………………………………...2
1.2.2  感知…………………………………………………………………………..…….4
1.2.3  通信……………………………………………………………………………...…5
1.3 研究內(nèi)容 6
第二章  基于人工力矩的多機(jī)器人隊(duì)形控制 7
2.1系統(tǒng)模型與相關(guān)定義 7
2.2 人工力矩法 11
2.3 結(jié)論 12
第三章 基于協(xié)商的隊(duì)形動(dòng)態(tài)生成方法 13
3.1 協(xié)商隊(duì)形的生成法與以往的對(duì)比分析………………..…………………………………13
3.2  HEFF隊(duì)形描述框架 14
3.3隊(duì)形動(dòng)態(tài)生成方法 15
3.3.1 隊(duì)形的擴(kuò)展 16
3.3.2 隊(duì)形協(xié)商生成的實(shí)現(xiàn) 18
3.3.3 隊(duì)形切換 20
3.3.4 優(yōu)化分派問題 20
3.4 仿真研究 21
3.5 隊(duì)形協(xié)商生成 21
3.6 結(jié) 語 23
第四章 結(jié)論與展望 24
參考文獻(xiàn) 25
致 謝 27
附錄A外文參考文獻(xiàn) 28
附錄B中文翻譯 29