基于群集的多机器人编队控制

摘要

In this paper, graph theory is used to formulated robot formation model, using a modified adjacency matrix representing the position relationship between the robots. The movement of multi -robot formation is controlled by the method of artificial potential field, and improved the knowing control law. The improved multi-robot control law can achieve the desired formation, and march together to a predetermined speed. And then the stability is analyzed by Lyapunov theory, and the multi-robot systems which is obtained under such control law.%利用图论表示机器人编队模型,用改进的邻接矩阵表示机器人之间的位置关系,用人工势场法对多机器人编队群集运动进行控制,改进的控制律可以使多机器人达到希望的队形,并共同以预定的速度行进.然后用李亚普诺夫稳定性理论进行分析,得出在此控制律下的多机器人系统可以进行稳定的编队群集运动.