采用Leader-follower和模糊反馈机制的机器鱼队形控制
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摘要
在Leader-follower框架下的多机器鱼系统队形控制中,针对Leader和Follower相对独立及落后机器鱼离队等问题,在传统的Leader-follower队形控制算法中引入模糊反馈控制器进行反馈调节,使得领航机器鱼Leader能定时检查Follower的位置,将多机器鱼系统的队形控制问题转化为具有反馈调节的Follower跟踪Leader的位置和方向的问题,以增强多机器鱼队形控制的稳定性,更好地协同作业完成任务.仿真试验验证了所提出的方法能较好地实现多机器鱼系统的队形控制.
In the formation control of multi-robot fish under the leader-follower framework,the fuzzy feedback controller was introduced to traditional leader-follower formation control algorithm in efforts to cope with the relative independence of the leader and followers,as well as the desertion of the laggard robot fishes.The goal was to ensure that the pilot robotic fish could check the position of followers regularly.In order to enhance the stability of the formation control of multi-robot fish and complete the task of collaborative operation,the formation control problem of multi-robot fish system was transformed into the problem of followers' tracking the position and orientation of the leader with the addition of the feedback regulation.Simulations verify that the proposed method can better realize the formation control of the robotic fish system.
In the formation control of multi-robot fish under the leader-follower framework,the fuzzy feedback controller was introduced to traditional leader-follower formation control algorithm in efforts to cope with the relative independence of the leader and followers,as well as the desertion of the laggard robot fishes.The goal was to ensure that the pilot robotic fish could check the position of followers regularly.In order to enhance the stability of the formation control of multi-robot fish and complete the task of collaborative operation,the formation control problem of multi-robot fish system was transformed into the problem of followers' tracking the position and orientation of the leader with the addition of the feedback regulation.Simulations verify that the proposed method can better realize the formation control of the robotic fish system.
引文
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[2]SFAKIOTAKIS M,LANE D M,DAVIES J B C.Review offish swimming modes for aquatic locomotion[J].IEEE Jour-nal of Oceanic Engineering,1999,24(2):237-252.
[3]刘军考,陈在礼,陈维山,等.水下机器人新型仿鱼鳍推进器[J].机器人,2000,22(5):427-432.LIU Junkao,CHEN Zaili,CHEN Weishan,et al.A newtype of underwater turbine imitating fish-fin for underwaterrobot[J].Robot,2000,22(5):427-432.
[4]BEARD R W,LAWTON J,HADAEGH F Y.A coordina-tion architecture for spacecraft formation control[J].IEEETransactions on Control Systems Technology,2001,9(6):777-790.
[5]YAMAGUCHI H,BURDICK J W.Asymptotic stabilizationof multiple nonholonomic mobile robots forming group forma-tions[C]//Proceedings of the 1998 IEEE International Con-ference on Robotics and Automation.Leuven,Belgium,1998:3573-3580.
[6]TANNER H G,PAPPAS G J,KUMAR V.Leader to for-mation stability[J].IEEE Transactions on Robotics andAutomation,2004,20(3):443-455.
[7]DAS A K,FIERRO R,KUMAR V,et al.A vision-basedformation control framework[J].IEEE Transactions on Ro-botics and Automation,2002,18(5):813-825.
[8]WANG P K C.Navigation strategies for multiple autono-mous mobile robots moving in formation[J].Journal of Ro-botic Systems,1991,8(2):177-195.
[9]KUPPAN CHETTY R M,SINGAPERUMAL M,NAGARA-JAN T.Behavior based multi robot formations with activeobstacle avoidance based on switching control strategy[J].Advanced Materials Research,2012,433-440:6630-6635.
[10]任德华,卢桂章.对队形控制的思考[J].控制与决策,2005,20(6):601-606.REN Dehua,LU Guizhang.Thinking in formation control[J].Control and Decision,2005,20(6):601-606.
[11]张金学,掌明.非完整机器人Leader-follower编队控制器设计[J].智能计算机与应用,2011(4):20-22.ZHANG Jinxue,ZHANG Ming.Design of Leader-followerformation controller for nonholonomic mobile robots[J].Intelligent Computer and Applications,2011(4):20-22.
[12]张磊.多智能体机器人系统设计与编队问题的研究[D].武汉:华中科技大学,2005:6-12.ZHANG Lei.Research on multi-agent robots system andformation control[D].Wuhan:Huazhong University ofScience and Technology,2005:6-12.
[13]丁磊,郭戈.一种船队编队控制的backstepping方法[J].控制与决策,2009,27(2):299-303.DING Lei,GUO Ge.Formation control for ship fleet basedon backstepping[J].Control and Decision,2009,27(2):299-303.
[14]DESAI J P,OSTROWSKI J,KUMAR V.Controlling for-mations of multiple mobile robots[C]//Proceedings of the1998 IEEE International Conference on Robotics and Auto-mation.Leuven,Belgium,1998:2864-2869.
[15]程磊.多移动机器人协调控制系统的研究与实现[D].武汉:华中科技大学,2005:37-42.CHENG Lei.Research and implementation on multiplemobile robots coordination control system[D].Wuhan:Huazhong University of Science and Technology,2005:37-42.
[16]董胜龙,陈卫东,席裕庚.多移动机器人编队的分布式控制系统[J].机器人,2000,22(6):433-438.DONG Shenglong,CHEN Weidong,XI Yugeng.An dis-tributed control system for multi-mobile robots formation[J].Robot,2000,22(6):433-438.