群机器人队形形成方法的研究

发布时间：2018-03-22 15:33

本文选题：群机器人系统　切入点：编队　出处：《辽宁科技大学》2017年硕士论文　论文类型：学位论文

【摘要】：随着任务的复杂性及其所处环境未知性、多变性的增加,单个机器人因其自身性能及可靠性等诸多因素而产生的局限性愈发突出,具有稳健性、自修复能力和自适应性等优点的自组织群机器人系统获得广泛关注。群机器人的队形控制问题作为解决群体机器人协调合作问题的基础,具有很大的研究价值。依据问题解决过程的不同,群机器人的编队问题可分成队形形成问题和队形保持问题,而队形保持问题又可以视为实时的队形形成问题,因此研究编队问题的首要问题就是队形形成问题。队形形成问题又可分解为两个必须解决的重要问题:在面对多个可供选择的目标节点时,机器人应以什么方式选择自己对应的目标节点;在形成队形过程中,如何避免与其它机器人发生冲突。本文是在有界的二维平面内,机器人随机分布的情况下,从上述两个问题入手解决群机器人的编队问题。第一个问题的核心在于给各机器人选择合理的对应目标节点,对此本文提出了一种自组织确定各机器人目标节点的新方法——人工社会职位法,该方法借鉴了人类在社会中求职的思想,群机器人根据实时探测到的环境信息,经过协商自组织的依据人工社会职位法的三个规则更换目标节点,直至机器人们拥有不同于彼此的目标节点,从而有效、有序、合理的形成目标队形。第二个问题是机器人的运动规划问题(即运动控制器的设计问题),本文依据群机器人系统模型的特点,采用人工力矩控制器驱动机器人运动,该控制器的工作原理是:在获取到机器人初始位置和目标位置的信息后,运用人工力矩控制法,输出转向,驱动机器人到达目标位置。通过matlab仿真平台验证了本文提出方法是可行且有效的。
[Abstract]:With the complexity of the task, the unknown environment and the increase of variability, the limitations of a single robot due to its own performance and reliability become more and more prominent and robust. Self-organizing swarm robot systems, which have the advantages of self-repairing ability and self-adaptability, have attracted much attention. The formation control problem of swarm robots is the basis of solving the problem of coordination and cooperation of swarm robots. The formation problem of robots can be divided into formation formation problem and formation maintenance problem, and the formation maintenance problem can be regarded as a real-time formation formation problem. Therefore, the formation formation problem is the most important problem in the study of formation formation, which can be divided into two important problems that must be solved: in the face of multiple optional target nodes, the formation formation problem can be divided into two important problems: one is the formation formation problem, and the other is the formation formation problem. In what way should the robot choose its corresponding target nodes, and how to avoid conflicts with other robots in the formation process. In this paper, the robot is randomly distributed in a bounded two-dimensional plane. Starting with the above two problems, the formation problem of swarm robots is solved. The core of the first problem is to select reasonable corresponding target nodes for each robot. In this paper, a new self-organizing method to determine the target nodes of each robot, artificial social position method, is proposed. The method draws lessons from the idea of human job-seeking in society, and the swarm robot detects the environmental information in real time. After negotiating the three rules of the artificial social position approach, the target nodes are replaced until the robots have different target nodes from each other, so that they are effective and orderly. The second problem is the motion planning of the robot (that is, the design of the motion controller). According to the characteristics of the swarm robot system model, this paper uses the artificial torque controller to drive the robot motion. The working principle of the controller is: after obtaining the information of the initial position and the target position of the robot, the manual torque control method is used to output the steering. The method proposed in this paper is proved to be feasible and effective by matlab simulation platform.
【学位授予单位】：辽宁科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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