多智能体编队控制方法研究

2010 Asia-Pacific Conference on Power Electronics and Design Pub Date : 2010-05-30 DOI:10.1109/APPED.2010.22

S. Cui, Longhui Wu, Li Zhao, Zhigang Bing

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引用次数: 2

摘要

多机器人编队控制是协调控制中最常见的控制形式。以美国ActivMediaRobotics公司生产的AmigoBot移动机器人为研究平台，基于多机器人编队法的leader-follower模型和反馈控制策略。仿真和物理实验结果证明了该模型的正确性和方法的有效性，也取得了较好的机器人编队效果。

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Research on Method of Multi-agent Formation Control

Multi-robot formation control is the most common form of control of coordinated control. Take the AmigoBot mobile robot which produced by ActivMediaRobotics in USA as a research platform, based on leader-follower model of multi-robot formation method and feedback control strategy. The results show that this model can maintain good V-formation, Simulation and physical experiment results prove that the model is correct and the method is effective, also obtain a good effect of robot formation.

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2010 Asia-Pacific Conference on Power Electronics and Design

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