基于Leader-Follower和一致性理论的多机器鱼避障控制研究

摘要

主要研究了多机器鱼队形控制的主要方法,提出了一种基于Leader-Follower框架和一致性理论的多机器鱼避障控制方法.分别分析了多机器鱼在无障碍环境和运动到障碍物区域时的队形运动.这种方法结合了Leader-Follower法和一致性理论的优点,能更好地实现多机器鱼在遇到障碍物后实现避障,从而完成整个系统的队形控制.最后仿真结果验证了该方法的可行性.%This paper mainly studies the main method of multi-robot fish formation control,and proposed a multi-robot fish formation control method based on Leader-Follower framework and artificial potential field method.Analysis of mult-robot fish motion obstacle region the formation of barrier free environment and movement,this method combines the advantages of leader-Follower and artificial potential,and can better achieve the formation control of multi-robot fish system.