基于混合式控制结构的多机器人编队控制研究
기우혼합식공제결구적다궤기인편대공제연구
Research on formation control based on hybrid architecture for multiple robots
  • 万方数据
    计算机工程与应用 계산궤공정여응용
    COMPUTER ENGINEERING AND APPLICATIONS
    2010年 11期 49-52 ,共4页

    雷艳敏%朱齐丹%冯志彬

    뢰염민%주제단%풍지빈

    编队控制%体系结构%模糊神经网络%神经元 編隊控製%體繫結構%模糊神經網絡%神經元
    편대공제%체계결구%모호신경망락%신경원
    formation control%architecture%fuzzy neural networks%nerve cell
    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.
    침대다궤기인적편대공제문제,제출파기우Motor Schema적반응식공제결구화분층식결구결합기래,설계료일충혼합식체계결구.근거반응식결구설계료사충기본행위,병제출이용모호신경망락래설계각충행위.최후이용신경원래융합각충행위적수출작위최종적수출,공제집행기래집행동작.해방법제고료정개편대계통적지능성화배경괄응성.통과방진험증료해방법적가행성화유효성.
    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.
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