【摘要】 针对多移动机器人的队形优化控制任务 ,引入 4种基本行为 ,即奔向目标行为、保持队形行为、避免与静态障碍物碰撞行为、避免与其它机器人碰撞行为。为了实现行为的决策 ,机器人采用基于 Mo-tor Schem a的结构 ,并通过遗传算法优化行为合成所需的控制参数。仿真结果表明 ,所提出的方法是可行的更多还原

【Abstract】 Four primitive behaviors called move-to-goal, keep-formation, avoid-static-obstacle and avoid-robot behaviors are introduced for the optimized formation control task. Motor Schema-based architecture is adopted by individual robot in order to achieve the decision making of behaviors. The genetic algorithm is used to optimize the parameters that achieve the combination of the behaviors. The simulation shows the feasibility of the proposed approach.更多还原