[1]王斐,闻时光,吴成东,等.基于模糊逻辑的多移动机器人自适应协作围捕[J].智能系统学报,2011,6(1):44-50.
WANG Fei,WEN Shiguang,WU Chengdong,et al.Adaptive cooperative hunting for multiple mobile robots based on fuzzy logic[J].CAAI Transactions on Intelligent Systems,2011,6(1):44-50.
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WANG Fei,WEN Shiguang,WU Chengdong,et al.Adaptive cooperative hunting for multiple mobile robots based on fuzzy logic[J].CAAI Transactions on Intelligent Systems,2011,6(1):44-50.
基于模糊逻辑的多移动机器人自适应协作围捕
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
6
期数:
2011年第1期
页码:
44-50
栏目:
学术论文—智能系统
出版日期:
2011-02-25
- Title:
- Adaptive cooperative hunting for multiple mobile robots based on fuzzy logic
- 文章编号:
- 1673-4785(2011)01-0044-07
- Keywords:
- multiple mobile robots system; adaptive cooperative hunting; pincer attack strategy; fuzzy logics; genetic algorithm; collision risk
- 分类号:
- TP391.9
- 文献标志码:
- A
- 摘要:
- 提出一种在未知动态环境下实现多移动机器人自适应协作围捕运动目标的整体方案，为成功实现围捕，设计了基于模糊逻辑的钳型夹击策略，模糊规则通过遗传算法学习获得.同时为躲避围捕过程中遇到的动态随机障碍，提出了基于碰撞风险的随机避障策略.围捕机器人的综合行为通过融合避障行为、合围行为和抓捕行为获得.在MRS仿真环境下进行了模拟实验，获得的不同条件下的围捕结果证明了围捕策略的有效性和鲁棒性.
- Abstract:
- A general scheme of adaptive cooperative hunting for a moving target by multiple mobile robots in unknown dynamic environments was presented. To realize successful hunting, pincer attack strategy was proposed and its behavior module was described by fuzzy logic, which was learned by a genetic algorithm. Simultaneously, obstacle avoidance scheme based on collision risk was used to avoid random obstacles during hunting. The synthesized behavior was obtained by combining avoidance behavior, formation behavior, and approach behavior. Simulated hunting experiments were conducted under different conditions in the Microsoft robotics studio and simulation results demonstrate the effectiveness and robustness of the proposed scheme.
- 参考文献/References:
-
［1］SUGAR T G, KUMAR V. Control of cooperating mobile manipulators［J］. IEEE Transactions on Robotics and Automation, 2002, 18(1): 94103.
［2］WANG Wei, QI Jinghao, ZHANG Houxiang, et al. A rapid hunting algorithm for multimobile robots system［C］//The 2nd IEEE Conference on Industrial Electronics and Applications. Harbin, China, 2007： 1203120
［3］毛小锋,曹志强,谭民,等.多移动机器人圆形队列形成算法［J］. 系统仿真学报, 2004, 16(4): 628629.
MAO Xiaofeng, CAO Zhiqiang, TAN Min, et al. Distributed circle formation algorithm for multiple mobile robots［J］. Journal of System Simulation, 2004, 16(4): 628629.
［4］MIYAMAE T, ICHIKAWA S, HARA F. Effects of population density on the emergence of circle formation in multiple robots system with a local vision［C］//Proceedings of IEEE/RSJ International Conference on Robots and Systems. Lausanne, Switzerland, 2002, 3: 27892794.
［5］KAYA M, ALHAJJ R. Modular fuzzyreinforcement learning approach with internal model capabilities for multiagent systems［J］. IEEE Transactions on System, Man, and Cybernetics, 2004, 34(2): 12101223.
［6］BURGARD W, MOORS M, SCHNEIDER F. Collaborative exploration of unknown environments with teams of mobile robots［J］. Lecture Notes in Computer Science, 2002, 2466: 187215.
［7］GONG Jianwei, QI Jianyong, XIONG Guangming, et al. A GA based combinatorial auction algorithm for multirobot cooperative hunting［C］//2007 International Conference on Computational Intelligence and Security. Harbin, China, 2007: 137141.
［8］曹洋.非完整足球机器人运动控制策略的研究与实现［D］. 沈阳: 东北大学信息科学与工程学院, 2004: 9293.
CAO Yang. Study and implementation of motion control strategy for nonholonomic constraint soccer robot［D］. Shenyang: College of Information Science and Engineering, Northeastern University, 2004: 9293.
［9］WANG Fei, WEI Wei, WU Chengdong. Cooperative hunting of multiple mobile robots under unknown dynamic environment［C］//The 21st Chinese Control and Decision Conference. Guilin, China, 2009: 30393044.
- 相似文献/References:
-
[1]罗京,刘成林,刘飞.多移动机器人的领航-跟随编队避障控制[J].智能系统学报,2017,12(2):202.[doi:10.11992/tis.201507029]
LUO Jing,LIU Chenglin,LIU Fei.Piloting-following formation and obstacle avoidance control of multiple mobile robots[J].CAAI Transactions on Intelligent Systems,2017,12():202.[doi:10.11992/tis.201507029]
备注/Memo
收稿日期：2010-08-13.
基金项目：国家自然科学基金资助项目(60705031);机器人技术与系统国家重点实验室（哈尔滨工业大学）开放基金资助项目（SKLRS2010ZD03）;中央高校基本科研业务费专项资金资助项目(N090404007).
通信作者：王斐.
E-mail:wangfei@ise.neu.edu.cn.
作者简介：王斐，男，1974年生，副教授，中国自动化学会机器人专业委员会委员，主要研究方向为智能机器人、多机器人系统，主持参与国家级、省部级基金等项目10余项，发表学术论文40余篇.
闻时光，男，1981年生，助教，主要研究方向为智能控制、模式识别.
吴成东，男，1960年生，教授、博士生导师，教育部自动化专业教学指导委员会委员、中国自动化学会教育工作委员会副主任，主要研究方向为智能控制、移动机器人智能导航.主持完成国家级、省部级等项目20余项，荣获国家级教学成果二等奖1项、省部级科技进步奖和教学研究成果奖一等奖、二等奖14项.发表学术论文200余篇，被SCI、EI检索160余篇，出版学术著作和教材9部.
更新日期/Last Update:
2011-04-13