一种基于人工力矩的动态队形控制方法

摘要

First, the optimal correspondence of distance is defined for robots' corresponding vertexes. For its determi-nation, we give an elimination method, including the model, the principle and the steps of operation. Next, two new types of artificial moments are defined, based on which the robots' motion controllers are designed to make robots avoid various obstacles and keep in a desired formation. Thus, a general approach for dynamical formation control is developed which not only makes robots dynamically realize the desired formations, but also minimizes the time for the process of formation by optimizing robots' corresponding vertexes. Simulation results demonstrate the feasibility and effectiveness of the proposed method.%本文首先定义了距离最优对应.给出了求距离最优对应的方法一淘汰法的模型、原理和详细步骤.从而得到了一种确定各机器人对应节点的较优准则.然后为了使机器人在运动过程中,既能避开各种障碍,又能最终得到目标队形,定义了两种新人工力矩.并基于人工力矩为各种机器人分别设计了运动控制器.最后基于上述成果.提出了一种一般性的动态队形控制方法.该方法不但能动态地控制机器人队形,且由于优化了机器人的对应节点,所以优化了队形的形成时间.仿真结果表明该方法是可行且有效的.