计算机工程与应用 ›› 2010, Vol. 46 ›› Issue (11): 49-52.DOI: 10.3778/j.issn.1002-8331.2010.11.015

• 研究、探讨 • 上一篇    下一篇

基于混合式控制结构的多机器人编队控制研究

雷艳敏1,2,朱齐丹1,冯志彬3   

  1. 1.哈尔滨工程大学 自动化学院,哈尔滨 150001
    2.长春大学 电子信息工程学院,长春 130022
    3.空军航空大学 航空救生系,长春 130021
  • 收稿日期:2008-10-16 修回日期:2009-01-13 出版日期:2010-04-11 发布日期:2010-04-11
  • 通讯作者: 雷艳敏

Research on formation control based on hybrid architecture for multiple robots

LEI Yan-min1,2,ZHU Qi-dan1,FENG Zhi-bin3   

  1. 1.Department of Automation,Harbin Engineering University,Harbin 150001,China
    2.Department of Electronic Information Engineering,Changchun University,Changchun 130022,China
    3.Department of Aviation Lifesaving,Air Force Aviation University,Changchun 130021,China
  • Received:2008-10-16 Revised:2009-01-13 Online:2010-04-11 Published:2010-04-11
  • Contact: LEI Yan-min

摘要: 针对多机器人的编队控制问题,提出把基于Motor Schema的反应式控制结构和分层式结构结合起来,设计了一种混合式体系结构。根据反应式结构设计了四种基本行为,并提出利用模糊神经网络来设计各种行为。最后利用神经元来融合各种行为的输出作为最终的输出,控制执行器来执行动作。该方法提高了整个编队系统的智能性和环境适应性。通过仿真验证了该方法的可行性和有效性。

关键词: 编队控制, 体系结构, 模糊神经网络, 神经元

Abstract: Aiming at the formation control problem,a kind of hybrid architecture is proposed,which combines the reactive architecture based on Motor Schema with the hierarchical architecture.Four kinds of basic behavior based on the reactive architecture are designed by using fuzzy neural networks.Lastly the nerve cell is used to fuse the outputs of each of behaviors qua the final outputs of system,which controls executive appliance to act.This method enhances intelligence and the environmental applicability.The simulation results validate the feasibility of this method.

Key words: formation control, architecture, fuzzy neural networks, nerve cell

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