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对多障碍物环境下微机器人集群自主通信转接的控制问题进行了研究。结合微机器人尺寸小的特点,采用低功耗的红外通信方式,利用载波侦听多路访问技术实现了多移动微机器人间的红外通信。在红外通信的基础上,建立了基于弹簧阻尼系统的自主通信转接控制模型,设计了相应的控制器以实现微机器人的运动控制,进而实现微机器人集群的自主通信转接。仿真结果验证了该控制方法的有效性。
Research on the control of autonomous communication transfer of micro-robot cluster in multi-obstacle environment is studied. Combined with the small size of micro-robot, infrared communication with multi-mobile micro-robot is realized by low-power infrared communication and carrier sense multi-access technology. On the basis of infrared communication, an autonomous communication transfer control model based on spring damping system is established, and the corresponding controller is designed to realize the motion control of micro-robot, so as to realize autonomous communication transfer of micro-robot cluster. The simulation results verify the effectiveness of this control method.