基于一致性理论的多机器鱼编队控制
内容摘要：
针对多机器鱼系统的一致性问题，设计一种基于一致性理论的多机器鱼编队控制模型。采用一个基于拓扑结构的多机器鱼编队控制模型描述机器鱼之间的信息交换方式，分析该模型下的有向网络取得渐近一致性的条件，并应用到领航者—跟随者模式下的编队控制中，将任意的队形转化为“一跟一”的局部“领导–跟随”关系并奔向目标区域，并在水中机器鱼2D仿真平台上进行仿真分析。仿真结果表明：该编队理论在多机器鱼控制系统中是有效的。
关键词：
多机器鱼；一致性；编队控制模型；leader-follower模式
中图分类号：TP273 文献标志码：A
Abstract: For the consensus problem of multiple robot fish system, design a multiple robot fish system based on the consensus theory. A multiple robot fish motion model is presented to communication information which based on topology structure. The consensus problem in directed networks of multiple robot fish is analyzed and applied to the formation of leader-follower. With any formation into the local leader-follower mode, the formation and the goal area reaching control is presented based on this model, and put up simulated analysis on underwater Robot fish 2D platform. Finally, simulations are provided to demonstrate the scheme in multiple robot fish system control is efficient.
Keywords: multiple robot fish; consensus; formation control model; leader-follower mode.
