發(fā)布時(shí)間：2018-06-14 23:42

  本文選題：二階一致性 + 分布式協(xié)作��； 參考：《蘭州交通大學(xué)》2016年碩士論文

【摘要】：多仿生機(jī)器魚合作控制問(wèn)題是多機(jī)器人系統(tǒng)領(lǐng)域的主要研究方向之一,其特點(diǎn)是多機(jī)器魚之間通過(guò)合作,完成單個(gè)機(jī)器魚無(wú)法完成的復(fù)雜任務(wù),在軍事偵查、水環(huán)境監(jiān)測(cè)、海上救援等領(lǐng)域均具有廣泛的應(yīng)用前景。本文主要針對(duì)多機(jī)器魚分布式編隊(duì)控制問(wèn)題進(jìn)行研究,主要內(nèi)容包括:1.給出了一種多機(jī)器魚編隊(duì)分布式控制算法。所提方法采用分層式結(jié)構(gòu)。首先,各機(jī)器魚利用二階一致性算法實(shí)現(xiàn)對(duì)其鄰居位置和速度信息的估計(jì),確定下一時(shí)刻的期望位姿和速度,并給出了基于局部信息的編隊(duì)形成和保持條件;其次,設(shè)計(jì)了各機(jī)器魚的模糊控制器,使之能夠精確跟蹤期望位姿。試驗(yàn)結(jié)果表明,所提算法能夠克服水環(huán)境的不確定性因素,實(shí)現(xiàn)編隊(duì)的形成和保持;2.給出了一種個(gè)體間能夠?qū)崿F(xiàn)避碰的多仿生機(jī)器魚分布式編隊(duì)控制算法。其中,在上位機(jī)信息融合模塊,通過(guò)在二階一致性算法中增加勢(shì)能函數(shù)項(xiàng),實(shí)現(xiàn)個(gè)體之間的碰撞避免;在機(jī)器魚行為控制層,設(shè)計(jì)了各仿生機(jī)器魚的中樞模式發(fā)生器CPG(Central Pattern Generator),將機(jī)器魚動(dòng)力學(xué)系統(tǒng)的控制模型轉(zhuǎn)換為對(duì)單個(gè)機(jī)器魚擺幅和相位差變量的控制,實(shí)現(xiàn)了多機(jī)器魚編隊(duì)的精確控制。實(shí)驗(yàn)結(jié)果驗(yàn)證了其有效性。3.搭建了一個(gè)多仿生機(jī)器魚分布式協(xié)作控制平臺(tái)。通過(guò)功能的模塊化設(shè)計(jì),將上位機(jī)功能模塊下移到機(jī)器魚控制系統(tǒng)中,實(shí)現(xiàn)了各機(jī)器魚基于任務(wù)進(jìn)行自主游動(dòng),上位機(jī)全局監(jiān)測(cè)的分布式框架體系;通過(guò)引入GPS/北斗衛(wèi)星導(dǎo)航系統(tǒng),以及開發(fā)機(jī)器魚之間的信息傳輸方式,構(gòu)建了基于仿生機(jī)器魚的分層分布式網(wǎng)絡(luò)系統(tǒng),為多機(jī)器魚系統(tǒng)的工業(yè)應(yīng)用奠定了基礎(chǔ)。
[Abstract]:The cooperative control problem of multi-bionic robot fish is one of the main research directions in the field of multi-robot system. Its characteristic is that the multi-robot fish can accomplish complex tasks which can not be accomplished by a single robot fish through cooperation, in military reconnaissance, water environment monitoring. Rescue at sea and other fields have a wide range of application prospects. In this paper, the distributed formation control problem of multi-robot fish is studied, the main contents include: 1. A distributed control algorithm for multi-machine fish formation is presented. The proposed method adopts a layered structure. Firstly, each robot fish uses the second-order consistency algorithm to estimate the location and velocity information of its neighbors, determines the expected pose and velocity at the next moment, and gives the formation and maintenance conditions based on local information. The fuzzy controller of each robot fish is designed to track the desired position and pose accurately. The experimental results show that the proposed algorithm can overcome the uncertainty of water environment and realize formation and maintenance of formation. This paper presents a distributed formation control algorithm for multi-bionic robotic fish which can avoid collision between individuals. In the information fusion module of the upper computer, the potential energy function is added to the second-order consistency algorithm to avoid collision between individuals, and in the robot fish behavior control layer, The central pattern generator of each bionic robot fish, CPGN Central pattern Generator, is designed. The control model of the robotic fish dynamics system is transformed into the control of single robot fish swing and phase difference variables, and the precise control of multi-robot fish formation is realized. The experimental results show that it is effective. A multi-bionic robot fish distributed cooperative control platform is built. Through the modular design of the function, the function module of the upper computer is moved down to the robot fish control system, and the distributed framework of autonomous swimming based on task and global monitoring of the upper computer is realized. By introducing GPS / Beidou satellite navigation system and developing information transmission mode between robot fish, a hierarchical distributed network system based on bionic robot fish is constructed, which lays a foundation for the industrial application of multi-robot fish system.
【學(xué)位授予單位】：蘭州交通大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：TP242

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本文編號(hào)：2019503