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1、沈阳理工大学 硕士学位论文 动态环境下多机器人协调控制的编队方法研究 姓名：孙锡国 申请学位级别：硕士 专业：模式识别与智能系统 指导教师：胡玉兰 20100301 leader-follower leader-follower , , , Abstract With the development of robotics technology, the application of robotics has been extended more and more widely. The robot is required not only to complete some simple ta
2、sks, but also to achieve complex tasks with complex and dynamic environment. For many complex tasks, it is hard or impossible for single robot to accomplish by itself. Therefore the system composed of mutiple robots is considered and the tasks are performed through coordination and cooperarion among
3、 multiple robots. Formation control is a typical problem in multi-robots coordination and cooperarion. So formation control of multiple robots in dynamic environment is discussed in the thesis. In the thesis, firstly, the features of the multi-robots systems with the status and orientation of format
4、ion control are introduced. System architecture is very important in multi-robot control and so an architecture of layered behavior integration has been desiged. And then several typical types of formation control methods are analyzed. In the thesis an improved method based on leader-follower is use
5、d. Then the single robots motion planning is studied. Three behaviors including moving to goal, avoiding static obstacle, avoiding dynamic obstacle are designed . Deterministic-sampling method and tangent available-territory method are adopted to avoid static obstacle. Fuzzy control is used to contr
6、ol velocity to avoid dynamic obstacle. At last, formation control of multiple robots based on the improved leader-follower method is analyzed and studied. For the defect of the traditional leader-follower the feedback mechanism is used. Considering the differences of the environment, the dynamic transformation of control formation is used. The results and analysis of the simulation prove the effectiveness and feasibility of the improved algorithms. Key words dynamic environment, formation motion, behavior-based, feed : 1 1 1 1.1 20 40
