未知动态环境下非完整移动群机器人围捕_张红强.pdf

31 9 Vol. 31 No. 9 2014 9 Control Theory Applications Sep. 2014 DOI: 10.7641/CTA.2014.31243 , , , , (1. , 410082; 2. , 411201) : , . , . , , , , . , , . . : ; ; ; ; ; : TP24 : A Nonholonomic mobile swarm robots hunting in unknown dynamic environments ZHANG Hong-qiang , ZHANG Jing , ZHOU Shao-wu , ZENG Zhao-fu , WU Liang-hong (1. College of Electrical and Information Engineering, Hu’nan University, Changsha Hunan 410082, China; 2. College of Information and Electrical Engineering, Hunan University of Science and Technology, Xiangtan Hunan 411201, China) Abstract: A self-organizing method based on a simplified virtual-force model is proposed for nonholonomic mobile swarm robots hunting in unknown dynamic environment. First, the motion equations of individual robots are given; then the motion models for the hunting target and dynamic obstacles in unknown dynamic environment are presented. Through the decomposition of hunting behavior under complicated environments, a simplified virtual-force model is formed. Based on the virtual-force model, the control method is designed for swarm robots following motions of the hunting target; after that, the stability of the hunting system is analyzed and the control parameter ranges are given. Simulation results for different situations demonstrate that the proposed hunting method can make the group of robots maintain a good hunting formation in unknown dynamic obstacle environments and has good performance of obstacle avoidance and flexibility. Finally, some adva