动态阻尼环境下多领导者群体机器人系统协同跟踪控制

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刘宗春, 田彦涛, 李成凤. 动态阻尼环境下多领导者群体机器人系统协同跟踪控制[J]. 机器人, 2011, 33(4): 385-393.. LIU Zongchun, TIAN Yantao, LI Chengfeng. Coadaptive Following Control of Swarm Robot System with Multiple Leaders in Dynamic Damping Environment. ROBOT, 2011, 33(4): 385-393..

摘要研究了动态阻尼环境下具有多个领导者的群体机器人系统的协同跟踪问题．利用蚁群算法规则根据个体周围邻居的局部跟踪情况和领导者的需求信息确定自己的跟踪目标，实现了群体按照领导者需求分裂成不同大小的子群体进行跟踪的目的．提出了模糊自适应整定控制器参数的方法，使群体机器人系统克服环境中动态阻尼的影响．仿真结果验证了上述方法的有效性．

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	刘宗春
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关键词 ：群体机器人系统, 多领导者, 蚁群算法, 阻尼环境, 协同控制

Abstract：Coadaptive following problem of swarm robot system with multiple leaders in dynamic damping environment is studied.Ant colony algorithm is adopted to identify the leader for agents to follow,which is based on both the local following information of its neighbors and the requirements of the leaders.In order to realize following,this method can divide the swarm into different sub-groups in accordance with the requirements of leaders.Fuzzy adaptive method is utilized to adjust the parameters of the controller,so that the swarm robot system can overcome the impact of the dynamic damping factors in the environment.The simulation results testify the validity of the presented algorithms.

Key words： swarm robot system multiple leaders ant colony algorithm damping environment coadaptive control

收稿日期: 2010-08-30 录用日期: 2011-05-31

TP24

基金资助:国家自然科学基金资助项目（60675057）

通讯作者: 田彦涛 E-mail: tianyt@mailjlu.edu.cn

作者简介: 刘宗春（1987- ），男，硕士生．研究领域：群体机器人系统．
彦涛（1958- ），男，教授，博士生导师．研究领域：分布式智能系统与移动机器人控制，复杂系统建模、优化与控制等．
李成凤（1986- ），女，硕士生．研究领域：群体机器人系统．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2011/V33/I4/385

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