基于实物模型的多智能体群避撞与汇聚性的协同控制研究

项目名称： 基于实物模型的多智能体群避撞与汇聚性的协同控制研究

项目编号： No.61203357

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 自动化学科

项目作者： 汉诚忠

作者单位： 电子科技大学

项目金额： 24万元

中文摘要： 本项目致力于研究自主移动智能体的协同控制，我们在项目中将针对移动机器人、气垫船和四旋翼飞行器的实物模型进行研究。协同控制的首要目标是得到被控对象的信息交互规则，移动智能体群体中的个体正是基于该信息交互规则与相邻智能体进行信息交互，从而使群体完成既定的任务。面向实际应用领域，另一个重要任务是保证智能体的避撞性和汇聚性，即是在每个移动智能体相互之间距离有限以使整个多移动机器人群体保持整体设计队形的前提下，保证每两个移动智能体之间不会发生碰撞。如今的研究成果只保证了智能体的避撞性而忽略了汇聚性，我们将在本项目中开发基于实物模型进行系统设计并保证其避撞性和汇聚性的一般架构，尤其是通过理论方法得到信息交互规则，并解决实际复杂条件下信息交互有限和参数未知的协同控制问题。我们将把研究结果以论文的形式发表于机器人和自动控制领域的顶级期刊。

中文关键词： 协同控制；多移动智能体系统；自制机器人群体；避撞；汇聚

英文摘要： This project conducts research on cooperative control of autonomous vehicles. The project deals with the actual models of mobile robot, hovercraft, and quad-rotor helicopter. The main goal of cooperative control is to obtain the interaction rules based on which each vehicle cooperate with its neighbors so that the whole group of vehicles achieve a common group objective. Towards real-world applications, the important additional goal is to guarantee collision avoidance and cohesive maintenance, i.e., guarantee that there is no collision among vehicles and the vehicles stay cohesive. The reported researches achieve the first goal based on intuitive observation and do not achieve the second goal for agents of actual vehicle models. This project develops a general framework to achieve both these goals for agents of of actual vehicle models by systematic design. In particular, we shall obtain the desired interaction rules by theoretical methods. More complex and difficult conditions from real-world applications such as limited communication and parameter uncertainty are incorporated for advanced cooperative control problems in this project. The results are aimed for publications in leading journals in the field of automatic control and the field of robotics.

英文关键词： Cooperative Control；Multi-Agent；Self-Organized Robotic Swarm；Collision Avoidance；Cohensive Maintenance