在明确了多机器人队形控制国内外发展现状的基础上，以地面移动机器人为研究对象，从系统结构、机器人模型、队形形状表示方法、参考框架及编队控制策略等方面，对多机器人编队控制的研究成果进行了概述。同时，对队形形状生成、编队跟踪与协调、队形变换与重组以及编队避障等队形控制子问题的国内外研究近况进行了总结和分析。最终指出：研究统一有效的编队控制框架、障碍环境下的队形优化变换、降低系统对通讯能力的要求以及编队控制在实际物理环境下的应用是移动机器人队形控制领域未来可能的研究主题。%On the basis of defining the present development of multi-robot formation control at home and abroad , with ground mobile robots as the research object , the research achievements on the multi-robot formation control are described in aspects of system structure , robot model , the formation shape representation method , reference frame and formation control strategy .In addition, the present domestic and foreign researches on such sub-problems of for-mation control as the generation of formation shape , formation tracking and coordination , formation change , recom-bination and formation , obstacle avoidance are also summarized and analyzed .It is pointed out finally that the uni-form and effective formation control frame , formation optimization and change in the obstacle environment , reducing system requirements on communication and the application of formation control in the actual physical environment are the future possible research topics .
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