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基于柔性结构的多机器人编队系统架构

, PP. 491-499

Keywords: 多机器人,柔性结构,粒子滤波,约束控制

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Abstract:

针对区域雷场自动清扫的多机器人编队架构设计问题,提出一种带约束控制的柔性控制架构。利用柔性结构冗余大、抗冲击的特点提升系统对环境扰动的适应能力。利用预测加反馈校正的滤波定位算法产生队形结构预应力,与合适的编队形状相配合,增强系统承载力。利用多角色协作分工模式增强系统的执行性能。实验结果表明多机器人柔性结构能较好适应环境的变化,系统具有较强的灵活性和抗毁能力,且鲁棒性得到提高。基于柔性结构的控制方法具有较好的实际应用价值。

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