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针对群机器人搬运队形的形成问题提出了一种自组织人工社会职位法.该方法中每个机器人R_i在每个采样时刻都按如下步骤工作.首先R_i运用文中给出的人工社会职位法确定自己的搬运点.然后R_i的人工力矩控制器驱动R_i向着自己的搬运点运动一步,其中由于文中改进了该控制器中吸引线段及吸引点的求解方法,从而降低了计算量而机器人仍能光滑安全地运动到自己的搬运点.下一个时刻重复上述步骤直到形成满足条件的搬运队形.该方法不仅原理简单计算量少且无论搬运队形多复杂,系统总能快速地形成满足条件的搬运队形.仿真结果表明文中所提方法是可行且有效的.
This paper proposes a self-organizing artificial social position method for the forming of group robot handling formation, in which each robot R_i works at each sampling moment according to the following steps.First, R_i is determined by the artificial social position method Own handling point.And then R_i’s artificial torque controller drives R_i to move towards its own delivery point one step, in which the method of solving the attracting line and the attraction point in the controller is improved in the paper, so the calculation amount is reduced and the robot can still be smooth Move safely to their own point of delivery, and repeat the above steps at the next moment until a convoy is formed that satisfies the conditions. The method not only has simple calculation, but also reduces the complexity of handling convoy and the system can always form the transportation that meets the requirements Formation. Simulation results show that the proposed method is feasible and effective.