基于软控制的群体机器人迁徙行为研究

为实现群体机器人迁徙系统的速度可控，研究了在软控制的干预下使群体达到期望速度的方法。在基于局部信息交互的分布式系统中引入软控制干预群体的运动形式，在不改变群体局部规则的情况下，实现速度可控的群体迁徙。利用代数图论和LaSalle不变原理，分析了该系统在软控制干预下的稳定性，并进行了仿真实验。实验结果表明，该控制策略能有效地实现稳定的群体迁徙行为。

Study of Swarm Flocking Behavior Based on Soft Control

How to make the swarm reach the desired speed with the intervention of soft control is studied to achieve speed control for the swarm flocking system. Soft control is introduced in the distributed system based on local information interaction to interfere the movement of group, so that speed control for swarm flocking can be realized without changing the local information interaction rule of the swarm. Algebraic graph theory and LaSalle invariance principle are used to analyse the stability of the system with soft control. Simulation experiments have been done to verify the designed control strategy and the results show that the proposed control strategy enables the swarm robots system to reach flocking behavior.