| 引用本文: | 徐望宝,孙明炎.群机器人自组织围捕多个入侵者的链阵方法[J].控制理论与应用,2023,40(1):94~102.[点击复制] |
| XU Wang-bao,SUN Ming-yan.A self-organized chain formation method for swarm robots to enclose multiple intruders[J].Control Theory and Technology,2023,40(1):94~102.[点击复制] |
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| 群机器人自组织围捕多个入侵者的链阵方法 |
| A self-organized chain formation method for swarm robots to enclose multiple intruders |
| 摘要点击 1396 全文点击 479 投稿时间：2021-03-23 修订日期：2022-04-20 |
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| DOI编号 10.7641/CTA.2021.10243 |
| 2023,40(1):94-102 |
| 中文关键词 群机器人系统 自组织系统 人工力矩法 链阵方法 |
| 英文关键词 swarm-robot systems self-organizing systems artificial moment method chain formation method |
| 基金项目 辽宁省自然科学基金项目(20180550470, 2019–ZD–0026), 辽宁科技大学科研专项基金项目(2018TD04)资助. |
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| 中文摘要 |
| 针对群机器人在二维给定区域自组织围捕多个入侵者问题提出了一种链阵方法. 链阵中的机器人分为链
首和链节, 其中链首不但会环绕围捕目标运动而且能也只有它们能发布招募信息, 以招募更多的机器人参与围捕同
时又能使参与者不致太多. 链节机器人则只需简单地跟随leader不停运动以形成链阵. 机器人的运动由人工力矩运
动控制器驱动, 该控制器能使机器人在完成任务的同时而又不会发生碰撞. 仿真结果表明, 链阵方法可以根据实际
需求动态调整链阵中的机器人数, 能使围捕不同目标的机器人结成统一的链阵. 链阵的不停移动则有利于机器人
在数量较少时包围入侵者. |
| 英文摘要 |
| A self-organized chain formation method is proposed for swarm robots to enclose multiple intruders in a
given 2–D area. A chain formation is built by chain heads and chain links, where chain heads not only move around their
hunting targets, but also send recruitment information to recruit more robots to participate in the chain formation while the
robot number in the formation will not be too large. The robots that act as chain links will only follow their leaders to
move continuously so that a chain formation can be built finally. The motions of the robots are driven by their artificial
moment motion controllers, which can make them fulfill tasks while collision can be avoided. Simulation results indicate
that the proposed method can adjust the robot number in a chain formation dynamically and can make the robots with
different hunting targets move together to form a chain formation. In the case the robot number is comparatively small, the
continuous movements of the robots are helpful for them to enclose the intruders. |