基于模糊邻居关系的群体机器人协同觅食控制研究

摘要

针对群体机器人系统领域中复杂环境下的稳定觅食问题,利用个体之间相互距离的模糊化提出了模糊连接矩阵方法,考虑到局部通信范围内的传感器误差设计了相应的分布式控制器,该控制器在切换拓扑关系下,能够使得系统中的所有个体速度均以有界误差收敛为零,且完成稳定的觅食行为。针对于约束非完整机器人进行了仿真试验,试验结果表明该控制器的有效性。%Considering foraging problems of swarm robot under the complex environment,the concept of fuzzy neighborhood is introduced in this paper which is due to the distance of agents.We use fuzzy adjacent matrix to describe the fuzzy neighborhood.Taking the sensor error within local communication range into account,we design the corresponding distributed controller,which can cause all individuals in the swarm robots systems converge to the zero velocity and finish the foraging behavior under switching topology relationship.Experiments have been done considering constrained non-holonomic robot to verify the designed controller.The results show that the proposed controller enables the swarm robots system to reach a stable foraging behavior.