关于多机器人围捕协调路径策略研究

详细信息    查看全文 | 推荐本文 |

英文篇名：Research on Coordination Strategy of Multi-robot Capture 作者：张旭 ; 贾磊磊 ; 陈群 英文作者：ZHANG Xu;JIA Lei-lei;CHEN Qun;College of Physics and Electronic Information,Luoyang Normal University; 关键词：围捕 ; 融合策略 ; 有限状态机 ; 模糊控制 英文关键词：Capture;;Integration strategy;;Finite state machine;;Fuzzy control 中文刊名：JSJZ 英文刊名：Computer Simulation 机构：洛阳师范学院物理与电子信息学院; 出版日期：2016-06-15 出版单位：计算机仿真 年：2016 期：v.33 基金：河南省教育厅科学技术研究重点项目(14A413007);; 河南省科技攻关计划项目(142102210474) 语种：中文; 页：JSJZ201606080 页数：5 CN：06 ISSN：11-3724/TP 分类号：362-366

摘要

针对多机器人围捕策略研究主要集中在无障碍物环境下静态目标的围捕和性能较低的目标机器人的围捕,对围捕协调控制问题进行分层分析,将复杂的围捕协调任务分为不同的模块进行讨论。对于不同的追捕者,分别采用不同的策略进行分析,根据实时的环境情况,提出利用模糊控制的追逃避障策略和动态leader追捕机器人在线调整策略以及采用有限状态机的围捕目标选择策略,最后将分解后的任务策略进行融合,完成总的围捕任务。通过在mobotsim环境下仿真实现,验证了采用模块化融合路径策略的多机器人协调围捕算法能够顺利的完成围捕协调任务。
        In this article,the control of cooperative hunting was analyzed in different levels by dividing the whole complicated cooperative hunting tasks into small parts that can be handled more easily. According to the real-time environment,different strategies were adopted for different hunters,including obstacle avoidance strategy based on fuzzy control,online adjustment strategy based on the dynamics of leader-pursuers,and target-selection strategy for assistant pursuers based on finite state machine theory. Eventually all the divided strategies were recombined to complete the whole capture task. The simulation of Mobotsim shows that the cooperative hunting algorithm based on modular integration strategy can successfully complete the hunting task.

引文

[1]M Rosencrantz,G Gordon,S Thrun.Locating moving entities in dynamic indoor environments with teams of mobile robots[C].In Proceedings of Autonomous Agents and Multi-Agent Systems,2003.
    [2]苏治宝,陆际联,童亮.一种多移动机器人协作围捕策略[J].北京理工大学学报,2004,24(5):403-406.
    [3]高志年.基于HLA的多Agent系统体系结构的研究[J].小型微型计算机系统,2003:612-617.
    [4]B Jung,G S Sukhatme.A Generalized Region-based Approach for Multi-target Tracking in Outdoor Environments[C].IEEE International Conference on Robotics and Automation.2004:2189-2195.
    [5]于莲芝,佘国君,朱小飞,张世雷.微小气动机器人移动FSM建模与控制[J].控制工程,2011-1,18(1):133-137.
    [6]胡俊,朱庆保.基于动态预测目标轨迹和围捕点的多机器人围捕算法[J].电子学报,2011-11,(11):2480-2484.
    [7]陈阳舟,王文星,代桂平.基于角度优先的多机器人围捕策略[J].北京工业大学学报,2012-5,38(5):716-720.
    [8]Ya Lei Sun,Meng Joo Er.Hybrid Fuzzy Control of Robotics Systems[J].IEEE Transactions on fuzzy systems,2004-12.
    [9]H C Nelson,Yung Cang Ye.An intelligent mobile vehicle navigation based on fuzzy logic and reinforcement learning[C].IEEETrans on Sys Man Cybern-Part B:Cyberetics.1999.29(2):314-321.