编队控制中的机器人行为与基于服务的运动行为结构设计

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杨帆, 刘士荣, 董德国. 编队控制中的机器人行为与基于服务的运动行为结构设计[J]. 机器人, 2012, 34(1): 120-128.. YANG Fan, LIU Shirong, DONG Deguo. Robot Behavior and Service-based Motion Behavior Structure Design in Formation Control. ROBOT, 2012, 34(1): 120-128..

摘要以基于位姿误差的虚拟目标跟踪为控制模式，提出了独立于编队控制与协作任务，但却适用于多移动机器人编队运动的基于服务的机器人运动行为结构，并对其基本运动行为与选择方法进行了设计．提出的基于服务的机器人行为结构借鉴了软件工程领域的面向服务的架构思想，具有可重用性．多机器人编队形成、改变等仿真与实验验证了本文所提方法的有效性．

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	杨帆
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关键词 ：机器人行为, 面向服务的架构, 多机器人, 编队控制

Abstract：Taking the posture deviation based virtual target tracking as the control model,a service based robot motion behavior structure is presented for multi-robot formation control,which is independent of robot formation control and cooperation tasks.The detailed basic motion behavior and its selection criteria are also designed.The service based robot motion behavior structure with reusability borrows the idea from the service-orientated architecture(SOA) in software engineering. Simulation and experiments with multi-robot formation initialization and change demonstrate the validity of the proposed approach.

Key words： robot behavior service-oriented architecture(SOA) multi-robot formation control

收稿日期: 2011-05-30 录用日期: 2011-10-31

TP242

基金资助:国家自然科学基金资助项目（61175093）；浙江省自然科学基金资助项目（Y1090353）

通讯作者: 刘士荣 E-mail: liushirong@hdu.edu.cn

作者简介: 杨帆（1984- ），男，博士生．研究领域：多机器人编队与协作，群体智能算法理论与应用．
刘士荣（1952- ），男，博士，教授．研究领域：复杂系统建模、优化与控制，智能机器人与智能控制，可再生能源发电与微型电网技术．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2012/V34/I1/120

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