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基于简化虚拟受力模型的群机器人多目标搜索协调控制.pdf
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基于简化虚拟受力模型的群机器人多目标搜索协调控制 | 周少武1, 张鑫1, 张红强1, 周游2, 李超逸1 | 1. 湖南科技大学信息与电气工程学院，湖南 湘潭 411201；
2. 湖南理工职业技术学院，湖南 湘潭 411206 | | Coordinated Control of Swarm Robots for Multi-target Search Based ona Simplified Virtual-Force Model | ZHOU Shaowu1, ZHANG Xin1, ZHANG Hongqiang1, ZHOU You2, LI Chaoyi1 | 1. College of Information and Electrical Engineering, Hunan University of Science and Technology, Xiangtan 411201, China;
2. Hunan Vocational Institute of Technology, Xiangtan 411206, China |
| | 摘要 针对未知凸和非凸障碍物以及动态障碍物环境下群机器人多目标搜索问题，提出了一种基于简化虚拟受力分析模型的循障和避碰方法（SRSMT-SVF）．对复杂环境下群机器人多目标搜索行为进行了分解并抽象出简化虚拟受力分析模型．基于此受力模型，设计了个体机器人协同搜索和漫游状态下的运动控制策略，使得机器人在搜索目标的同时能够实时避碰．通过对不同群体规模系统的仿真实验表明，本文控制方法能够使个体机器人在整个搜索过程中保持良好的避碰性能，有效地减少系统与环境之间和系统内部个体之间的碰撞冲突．相比于扩展粒子群算法（EPSO），本文方法使得搜索耗时和系统能耗至少减少了13．78%、11．96%，数值仿真结果验证了本文方法的有效性． |
| | 关键词 ： 群机器人学, 多目标搜索, 未知环境, 非凸障碍物, 虚拟受力模型, 避碰 | | Abstract：By considering the barrier-following motion and collision avoidance, a novel search method based on a simplified virtual-force model is proposed for multi-target search of swarm robots (SRSMT-SVF) in unknown environments with non-convex, convex and dynamic obstacles. The multi-target search behaviour of swarm robots in complicated environments is firstly decomposed, and a simplified virtual-force model is then formulated. Based on the proposed model, the motion control strategies of the individual robots under coordinated search and roaming state are designed to achieve real-time collision avoidance in searching process. Simulation results on different scale of swarm robot systems demonstrate that the proposed method can keep the individual robot with a good performance of collision avoidance, and can effectively reduce the collision conflicts between the robots and the environment as well as collision conflicts among the individual robots during the searching process. Moreover, compared with the extended particle swarm optimization (EPSO), the search time and energy consumption are reduced by at least 13.78% and 11.96%. The numeric simulation results demonstrate its effectiveness. | | Key words： swarm robotics multi-target search unknown environment non-convex obstacle virtual-force model collision avoidance | | 收稿日期: 2016-06-17 | | | 基金资助:国家自然科学基金（51374107，51577057）；“十二五”国防基础科技计划（B3720110008）；湖南省自然科学基金（13JJ8014） | | 通讯作者: 张鑫，zxin8070@163.com E-mail: zxin8070@163.com | 作者简介: 周少武（1964-），男，博士，教授．研究领域：复杂控制系统和非线性系统的鲁棒控制，智能机器人控制等．
张鑫（1991-），男，硕士生．研究领域：群机器人协调控制．
张红强（1979-），男，博士，讲师．研究领域：群机器人系统，群体智能，优化与智能控制等． |
| 引用本文: | 周少武, 张鑫, 张红强, 周游, 李超逸. 基于简化虚拟受力模型的群机器人多目标搜索协调控制[J]. 机器人, 2016, 38(6): 641-650.
ZHOU Shaowu, ZHANG Xin, ZHANG Hongqiang, ZHOU You, LI Chaoyi. Coordinated Control of Swarm Robots for Multi-target Search Based ona Simplified Virtual-Force Model. ROBOT, 2016, 38(6): 641-650. | | | | | 链接本文: | | http://robot.sia.cn/CN/10.13973/j.cnki.robot.2016.0641 或 http://robot.sia.cn/CN/Y2016/V38/I6/641 |
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