CAJ | 학술논문

研究速度信息未知情形下的群体机器人集结控制问题.分别针对未设置虚拟领导者和设置虚拟领导者两种情形,提出了仅考虑位置信息的观测器和具有网络连通性保持的分布式控制方法.理论分析表明该算法具有网络连通性保持功能,并且保证所有机器人的速度信息收敛到一致,机器人最终也会聚集到一起.数值仿真实验验证了所提出分布式控制算法的有效性.
연구속도신식미지정형하적군체궤기인집결공제문제.분별침대미설치허의령도자화설치허의령도자량충정형,제출료부고필위치신식적관측기화구유망락련통성보지적분포식공제방법.이론분석표명해산법구유망락련통성보지공능,병차보증소유궤기인적속도신식수렴도일치,궤기인최종야회취집도일기.수치방진실험험증료소제출분포식공제산법적유효성.
This paper mainly researches the rendezvous control problem of swarm robots without velocity information. For the two cases without a virtual leader and with a virtual leader, distributed predictors are designed and distributed control algorithms are proposed with only position information measurement while the connectivity is preserved. Theory analysis shows that the proposed control algorithms can keep the robot network connected, and the velocity of all robots can converge to the same value and the position information can reach consensus. Finally, simulation experiments show the effectiveness of the proposed distributed control algorithms.