基于位置反馈的多机器鱼编队控制
内容摘要：
为实现多机器鱼的队形控制，在图论队形控制理论的基础上引入一种基于位置反馈的队形控制策略。介绍参考机器鱼的概念，在任一时刻都设定一个保持不动的参考机器鱼，其它机器鱼则根据当前参考机器鱼的位置及机器鱼之间的信息交互来调整其相对位置，使多机器鱼系统在有限时间内实现任意队形的形成。在水下机器人2D仿真平台上进行实验，并给出不同情况的实验结果。仿真结果表明：该方法整体性好，鲁棒性强，抗干扰性强，计算简单，可实现任意队形。
关键词：
多机器鱼；编队控制；位置反馈；2D仿真平台
中图分类号：TP242 文献标志码：A
Abstract: To realize the formation control of multi-robot fish system, this paper presents a new method, a position feedback control strategy, which considering both graph theory and information interaction between the robots. And a concept of reference robot fish is introduced, which means a different fish is set to stay still at any time. Other fish adjust the positions according to the position of reference fish through the information interaction, which can make the robot fish achieve any formation in the limit time. We conduct simulations on the underwater robot polo game 2D simulation platform and give out the experimental results under different situations. Simulation results show the method good integrity, good robustness and the immunity to interference, which verify the effectiveness of the proposed algorithms.
Keywords: multi-robot fish; formation control; position feedback; 2D simulation platform
