[1]杨茂,田彦涛.复杂环境下多机器人觅食路径规划与控制[J].智能系统学报,2013,8(2):162-167.[doi:10.3969/j.issn.1673-4785.201208022]
YANG Mao,TIAN Yantao.Foraging path planning and control for multi-robot in complex environment[J].CAAI Transactions on Intelligent Systems,2013,8(2):162-167.[doi:10.3969/j.issn.1673-4785.201208022]
点击复制
YANG Mao,TIAN Yantao.Foraging path planning and control for multi-robot in complex environment[J].CAAI Transactions on Intelligent Systems,2013,8(2):162-167.[doi:10.3969/j.issn.1673-4785.201208022]
复杂环境下多机器人觅食路径规划与控制
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
8
期数:
2013年第2期
页码:
162-167
栏目:
学术论文—智能系统
出版日期:
2013-04-25
- Title:
- Foraging path planning and control for multi-robot in complex environment
- 文章编号:
- 1673-4785(2013)02-0162-06
- Keywords:
- multi-robot; decentralized control; foraging; path planning; cohesion
- 分类号:
- TP18
- 文献标志码:
- A
- 摘要:
- 针对多机器人系统领域中复杂环境下的稳定协同觅食问题，利用粒子群优化算法规划出多机器人中心位置在相应目标下的最优光滑路径.在此基础上设计了相应的分布式控制策略，并对该控制策略下多机器人系统运动的稳定性和内聚性进行了分析，证明了群体内部平均动能能够收敛至给定值，进而保证了多机器人系统运动规模的可控性，且不发生碰撞.仿真试验结果表明，在该控制策略下，多机器人系统能够在复杂的环境下有效地实现稳定觅食行为.
- Abstract:
- Aiming at the stable cooperative foraging problems of the multi-robot system in complex environments, the Particle Swarm Optimization (PSO) algorithm was adopted in this paper to plan an optimal smooth path of the center of multi-robot system in corresponding objects. In order to plan an optimal smooth path of the center of multi-robot system in corresponding objects, it was necessary to examine the system in great detail. And on this basis, a corresponding distributed controller was designed, and a stabilization and cohesion analysis of the multi-robot moving was performed. The control strategy, proved the swarm internal average kinetic energy did converge to the given value, and the multi-robot system moving scale was under control, indicating no collisions. Experiments have been completed and verified the designed controller. The results show that the proposed controller enables the multi-robot system to reach a stable foraging behavior in complex environments.
- 参考文献/References:
-
［1］SHI Hong, WANG Long, CHU Tianguan, et al. Flocking control of multiple interactive dynamic agents with switching topology via local feedback［J］. Lecture Notes in Artificial Intelligence, 2005, 36(30): 604-613.
［2］GU Dongbing, HU Huosheng. Using fuzzy logic to design separation function in flocking algorithms［J］. IEEE Transactions on Fuzzy Systems, 2008, 16(4): 826-836.
［3］WANG Zongyao, GU Dongbing. Fuzzy control of distributed flocking system［C］//Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation. Harbin, China, 2007: 2807-2812.
［4］LI Xiaohai, XIAO Jizong, CAI Zhijun. Stable flocking of swarms using local information［C］//2005 IEEE International Conference on Systems, Man and Cybernetics. New York, USA, 2005: 3921-3926.
［5］杨茂，李成风，田彦涛. 群体机器人同步问题的分布式协同控制及优化［J］. 智能系统学报， 2010, 5（3）: 247-253.
YANG Mao, LI Chengfeng, TIAN Yantao. Distributed coadaptive control and optimization for swarm robot synchronization［J］.CAAI Transactions on Intelligent Systems, 2010, 5（3）: 247-253.
［6］吴宪祥，郭宝龙，王娟.基于粒子群三次样条优化的移动机器人路径规划算法［J］.机器人， 2009， 31(6)： 556-570.
WU Xianxiang, GUO Baolong, WANG Juan. Mobile robot path planning algorithm based on particle swarm optimization of cubic splines［J］. Robot, 2009， 31(6)： 556-570.
［7］JADBABIE A, LIN J, MORSE A S. Coordination of groups of mobile autonomous agents using nearest neighborhood rules［J］. IEEE Transactions on Automatic Control, 2003, 48(6): 988-1001.
［8］PEDRAMI R, GORDON B W. Temperature control of energetic swarms［C］//Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation. Harbin, China, 2007: 2639-2644.
［9］LERMAN K, MARINOLI A, GALSTYAN A. A review of probabilistic macroscopic models for swarm robotic systems［J］. Lecture Notes in Computer Science, 2005, 33(42): 143-152.
［10］TANNER H G, JABABAIE A, PAPPAS G J. Stable flocking of mobile agent, part I: fixed topology［C］//Proceedings of Conference on Decision Control. Maui, Hawaii, USA， 2003: 2010-2015.
［11］SABER O, MURRAY R M. Consensus seeking in multi-agent systems under dynamically changing interaction topologies［J］. IEEE Transactions on Automation and Control, 2005, 50(5): 655-661.
［12］GAZI V, PASSINO K M. Stability analysis of social foraging swarm［J］. IEEE Transactions on Systems, Man, and Cybernetics—Part B: Cybernetics, 2004, 34(1): 539-557.
［13］LIU Yanfei, PASSINO K M. Stable social foraging swarms in a noisy environment［J］. IEEE Transactions on Automatic Control, 2004, 49(1): 30-44.
- 相似文献/References:
-
[1]张? 嵛,刘淑华.多机器人任务分配的研究与进展[J].智能系统学报,2008,3(2):115.
ZHANG Yu,LIU Shu-hua.Survey of multirobot task allocation[J].CAAI Transactions on Intelligent Systems,2008,3():115.
[2]石志国,王志良,刘冀伟.异构多机器人协作系统研究进展[J].智能系统学报,2009,4(5):377.[doi:10.3969/j.issn.1673-4785.2009.05.001]
SHI Zhi-guo,WANG Zhi-liang,LIU Ji-wei.Developments in heterogeneous multi-robot cooperation systems[J].CAAI Transactions on Intelligent Systems,2009,4():377.[doi:10.3969/j.issn.1673-4785.2009.05.001]
[3]任立敏,王伟东,杜志江.移动机器人队形控制关键技术及其进展[J].智能系统学报,2013,8(5):381.[doi:10.3969/j.issn.1673-4785.201302011]
REN Limin,WANG Weidong,DU Zhijiang.Key technologies and development of? formation control of mobile robots[J].CAAI Transactions on Intelligent Systems,2013,8():381.[doi:10.3969/j.issn.1673-4785.201302011]
[4]程磊,周明达,吴怀宇,等.无线传感器环境下粒子群优化的多机器人协同定位研究[J].智能系统学报,2015,10(1):138.[doi:10.3969/j.issn.1673-4785.201310067]
CHENG Lei,ZHOU Mingda,WU Huaiyu,et al.Cooperative multi-robot localization based on particle swarm optimization in the environment of wireless sensor[J].CAAI Transactions on Intelligent Systems,2015,10():138.[doi:10.3969/j.issn.1673-4785.201310067]
[5]钱殿伟.基于模糊滑模的多机器人系统编队控制[J].智能系统学报,2016,11(5):641.[doi:10.11992/tis.201510017]
QIAN Dianwei.Formation control of multi-robot systems in a fuzzy sliding mode[J].CAAI Transactions on Intelligent Systems,2016,11():641.[doi:10.11992/tis.201510017]
[6]李苗,刘忠信,陈增强.一种多非完整移动机器人分布式编队控制方法[J].智能系统学报,2017,12(1):88.[doi:10.11992/tis.201512021]
LI Miao,LIU Zhongxin,CHEN Zengqiang.A distributed formation control method formultiple nonholonomic mobile robots[J].CAAI Transactions on Intelligent Systems,2017,12():88.[doi:10.11992/tis.201512021]
[7]屈云豪,丁永生,郝矿荣,等.行军启发的多机器人紧密队形保持策略[J].智能系统学报,2018,13(5):673.[doi:10.11992/tis.201710023]
QU Yunhao,DING Yongsheng,HAO Kuangrong,et al.March-inspired multi-robot compact formation strategy[J].CAAI Transactions on Intelligent Systems,2018,13():673.[doi:10.11992/tis.201710023]
[8]欧阳勇平,魏长赟,蔡帛良.动态环境下分布式异构多机器人避障方法研究[J].智能系统学报,2022,17(4):752.[doi:10.11992/tis.202106044]
OUYANG Yongping,WEI Changyun,CAI Boliang.Collision avoidance approach for distributed heterogeneous multirobot systems in dynamic environments[J].CAAI Transactions on Intelligent Systems,2022,17():752.[doi:10.11992/tis.202106044]
备注/Memo
收稿日期：2012-08-16.
网络出版日期：2013-04-09.?
基金项目：东北电力大学博士基金资助项目（BSJXM-201016）.
通信作者：杨茂.
E-mail：yangmao820@yahoo.com.cn.
作者简介：
杨茂，男，1982年生，讲师，博士.主要研究方向为群体机器人系统、风电功率预测.
田彦涛，男，1958年生，教授，博士生导师,博士，中国自动化学会理事、中国自动化学会机器人专业委员会常务委员、吉林省自动化学会理事长、吉林省通信学会副理事长、吉林省电机工程学会常务理事、中科院沈阳自动化研究所先进制造技术实验室学术委员会委员、中国自动化学会《机器人》学报编委、《吉林大学学报（信息科学版）》副主编.主要研究方向为复杂系统建模、优化与控制、分布式智能系统与网络控制.近5年，完成国家“863”计划项目1项、国家自然科学基金项目1项、吉林省科技发展计划项目3项、国家“863”智能机器人网点实验室基金项目1项；目前，负责承担国家“863”计划项目和国家自然科学基金项目等国家级科研项目3项、吉林省科技发展计划重点项目3项.发表学术论文70余篇，其中被SCI、EI、ISTP检索36篇.
更新日期/Last Update:
2013-05-26