CAJ | 학술논문

　　针对多机器人系统领域中复杂环境下的稳定协同觅食问题，利用粒子群优化算法规划出多机器人中心位置在相应目标下的最优光滑路径。在此基础上设计了相应的分布式控制策略，并对该控制策略下多机器人系统运动的稳定性和内聚性进行了分析，证明了群体内部平均动能能够收敛至给定值，进而保证了多机器人系统运动规模的可控性，且不发生碰撞。仿真试验结果表明，在该控制策略下，多机器人系统能够在复杂的环境下有效地实现稳定觅食行为。
　　침대다궤기인계통영역중복잡배경하적은정협동멱식문제，이용입자군우화산법규화출다궤기인중심위치재상응목표하적최우광활로경。재차기출상설계료상응적분포식공제책략，병대해공제책략하다궤기인계통운동적은정성화내취성진행료분석，증명료군체내부평균동능능구수렴지급정치，진이보증료다궤기인계통운동규모적가공성，차불발생팽당。방진시험결과표명，재해공제책략하，다궤기인계통능구재복잡적배경하유효지실현은정멱식행위。
Aiming at the stable cooperative foraging problems of the multi -robot system in complex environments , the Particle Swarm Optimization (PSO) algorithm was adopted in this paper to plan an optimal smooth path of the center of multi-robot system in corresponding objects .In order to plan an optimal smooth path of the center of multi -robot system in corresponding objects , it was necessary to examine the system in great detail .And on this basis, a corresponding distributed controller was designed , and a stabilization and cohesion analysis of the multi -robot mov-ing was performed.The control strategy, proved the swarm internal average kinetic energy did converge to the given value, and the multi-robot system moving scale was under control , indicating no collisions.Experiments have been completed and verified the designed controller .The results show that the proposed controller enables the multi -robot system to reach a stable foraging behavior in complex environments .