多機器人編隊控制研究進展

賈永楠; 李擎

doi:10.13374/j.issn2095-9389.2018.08.001

多機器人編隊控制研究進展

doi: 10.13374/j.issn2095-9389.2018.08.001

賈永楠,
李擎^,

北京科技大學自動化學院, 北京 100083

基金項目:

國家自然科學基金青年資助項目（61603362）；國家博士后基金資助項目（2016M600923）；北京科技大學基本科研業務費資助項目（2017年度）

詳細信息

中圖分類號: V249.1
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出版歷程
- 收稿日期: 2017-09-29

Research development of multi-robot formation control

JIA Yong-nan,
LI Qing^,

School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, China

摘要

摘要: 首先介紹了傳統的編隊控制方法的定義、特點和常用方法及優缺點，并將傳統編隊控制時代定義為前編隊控制時代.隨著多智能體技術的發展，將多智能體技術引入到編隊控制問題中，誕生了眾多新的研究成果，稱為后編隊控制時代.后編隊控制時代以多智能體技術為基礎，隨著通信技術、計算機技術、人工智能技術的發展而逐漸壯大起來，并受到了學者的廣泛關注.前編隊控制時代強調多機器人通過編隊協作完成單個機器人無法實現的任務，提高任務完成效率且縮短任務完成時間.后編隊控制時代則是在前編隊控制時代的基礎上，更強調低成本、同步性和協同性，但卻不那么重視每個個體的任務分工，甚至是按照規則自由分配任務，不再有"不可替代"的個體存在.最后給出了研究編隊控制問題的基本思路和目前尚待解決的關鍵問題.
- 機器人 /
- 編隊控制 /
- 多智能體技術 /
- 大規模系統 /
- 分布式控制
Abstract: Multi-robot formation control is one of the most important research directions in the field of robotics. In this paper, the definition and characteristics of multi-robot formation control were given and several traditional formation control methods were introduced, such as leader-follower method, behavior-based method, artificial potential method, and virtual structure method, and their advantages and disadvantages were stated. The era in which these traditional control methods are applied is termed as "Former Formation Control Era" (FFCE). Following the development of multi-agent theory, the multi-agent technology has become popular and is considered as an efficient solution to the multi-robot system formation control problem, and it has generated several favorable results. The era in which this technology is adopted is termed the "Post Formation Control Era" (PFCE). In this era, the multi-agent theory has gained much attention following the developments in the communication technology, computation technology, and artificial intelligence technology. The FFCE emphasizes that multiple robots are able to accomplish complex tasks that are unachievable by a single robot, while forming a desired formation, which improves the efficiency of a required task as well as shorten the completion time of the task. However, the PFCE emphasizes much more cost-effectiveness, synchronization, and coordination than the FFCE. Meanwhile, the PFCE does not pay much attention to the task assignment for each individual, but assigns each sub-task autonomously to each individual on the basis of simple rules, and there exists no "irreplaceable" individual. Finally, this paper presented the basic steps for solving the formation control problem using multi-agent technologies.
- robots /
- formation control /
- multi-agent technology /
- large-scale system /
- distributed control

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