一种引入通信的多移动机器人编队方法

:2006208208;:2006210220:(60374032);:(19812),,,,([e-mail]);(19572),,,,,,.3,(,100083):,,l2,,,,:;;;:TP24216:A:100123695(2007)1020059202FormationcontrolmethodofmultiplemobilerobotsimportedcommunicationZHUFa2qiang,YINYi2xin(SchoolofInformationEngineering,UniversityofScience&TechnologyBeijing,Beijing100083,China)Abstract:Basedontrackbyvision,communicationwasimportedinformationcontrolofamultiplemobilerobotssystem.Anewcommunicationprotocolwasconstitutedforneed.Withthistechnique,thelimitofthevisionwaspreventedandthemulti2plemobilerobotssystemcouldworkcoordinatelyintheunknownenvironment.Theproblemthattherewasnofeedbackinfor2mationcontrolwasresolvedandthereal2timewasimproved.Thentherobotscouldbeintheirlinescorrectlyandquicklyandarrivedatthegoalposition.Experimentresultprovesthemethodisfeasible.Keywords:multiplemobilerobots;formationcontrol;communicationprotocol;track,,,,[1,2],,()[3][4],,,,1()()()()1,,DSP,,,,,2,(pack),leader,fol2lowerleader,,ID2410200710ApplicationResearchofComputersVol.24No.10Oct.2007,IP,Ripack={RID,Rl,Rix,Riy,vi,i,i}:RIDRiIPRlRileader,0leader,1followerRixRixRiyRiyvileaderRiileaderRixileaderRi,pack={1,0,x1,y1,20,0,5},R1leader,P1(x1,y1),x20m/s,5rad/s3,,,,,,leader,followerleader,,follower,lea2derfollower,follower;followerlea2der2,,[5,6]l2,l12;12;iRil1212l12l121212D,d,3,l12=v2cos-d2sin-v1cos12+d1sin12(1)12=(v1sin12-v2sin-d2cos+d1cos12-l121)/l12(2)=12+1-2(3)l2l12=(l12-l12)(4)12=(12-12)(5):l12=(x1-x2)2+(y1-y2)2(l12)(6):=r1+r2;r1r22=[l12(12-12)-v1sin12+l121+12sin1]cos/d(7)v2=12-d2tan1(8)12=[(l12-l12)+v1cos12]/cos1(9)12,R2R1R1t{RID1,0,x1(t),y1(t),v1(t),1(t),1(t)},R2t+T2(t+T)v2(t+T)R24,,()Leader,,follower100ms,d=-300mm,a1=0.2,a2=0.3,l12=1.0m,12=:leader,follower,leaderfollower,,(4)5,,,,,,(67)0624,;,3212121)/typedefstruct_DS_PARAM{ub13name;//ub13value;//sb4len;//ub2type;//shortindicator;//ub2rcode;//}DS_PARAM;2)API_EXPORT(int)ds_init(DS_BLK3oblk,char3ds_name,char3userName,char3userPass);3)API_EXPORT(int)ds_destroy(DS_BLK3oblk);4)API_EXPORT(int)ds_getSession(DS_BLK3oblk,DS_SESSION3osession)5)API_EXPORT(int)ds_releaseSession(DS_BLK3oblk,DS_SES2SION3osession)6)()API_EXPORT(void)ds_reap_session(DS_BLK3oblk,DS_SES2SION3osession,request_rec3r)7),API_EXPORT(sword)ds_set_value(DS_BLK3oblk,char3cmd_name,DS_PARAM33in_data,DS_PARAM33out_data)3:a)(XML),XSLT,/(ZIPGZIP),,CJava,,,b),;,,:[1]SUGDENT,HUMEA,JACKSONM,etal.Protectingapplicationde2velopers:aclienttoolkitforOGSA2DAI[C]//ProcoftheUKe2Sci2enceAllHandsMeeting.Nottingham:[s.n.],2004:1432149.[2]DEELMANE,SINGHG,ATKINSONMP,etal.Grid2basedmetadataservices[C]//Procofthe16thInternationalConferenceonScientificandStatisticalDatabaseManagement.WashingtonDC:IEEEComput2erSociety,2004:3932402.[3]SINGHG,BHARATHIS,CHERVENAKA,etal.Ametadatacatalogservicefordataintensiveapplications[C]//ProcofSupercomputing.WashingtonDC:IEEEComputerSociety,2003:33250.[4]OGSA2DAIWSRF2.1userguide[EB/OL].(2005).(60);,,:[1]SUGIHARAK,SUZUKII.Distributedalgorithmsforformationofgeo2metricpatternswithmanymobilerobots[J].JournalofRoboticSystems,1996,13(3):1272139.[2]MONTEIROS,BICHOE.Adynamicalsystemsapproachtobehavior2basedformationcontrol[C]//ProcofIEEEInternationalConferenceonRobotics&Automation.WashingtonDC:[s.n.],2002:260622611.[3],,.[J].,2000,20(6):4332438.[4],,.[J].,2003,25(1):66272.[5]CHENGL,WANGYJ.Faulttoleranceforcommunication2basedmulti2robotformation[C]//Procofthe4thInternationalConferenceonMachineLearningandCybernetics.2004:1272132.[6]SABERRQ,MURRAYRM.Flockingwithobstacleavoidancecooperationwithlimitedcommunicationinmobilenetworks[C]//Procofthe42ndIEEEConferenceonDecisionandControl.2003:202222028.7610,: