基于弹簧原理的群机器人自动排列行为算法

基于弹簧原理的群机器人自动排列行为算法 本科学生毕业论文(设计) 基于弹簧原理的群机器人自动排列行为算法题目(中 文): 研究 Algorithm for Swarm Robot Automatic (英 文): Arrangement Based on Spring Principle 姓 名 学 号 院 (系) 电子工程系 专业、 电子信息工程 级 指导教师 their own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promote the brand. To establish brand awareness, awareness of the use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful planning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key breakthroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their horizons, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trust, mutual benefit, seeking win-win principle, in the framework of national policies and regulations, strict inspection and argumentation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injection the social investment to the industry group, to achieve leveraging the development, ensure that the value of state-owned assets.(five) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and workers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market competition, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the market. At the same time, according to the need of industrial development, vigorously the introduction of high-quality management management personnel, and strive to build a high-quality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structure optimization and upgrading ability, enhance core competitiveness, adapt to the need of market competition.(six) seriously study the policy for policy. Serious research about social support the development of cultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment policy, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to promote leapfrog development. 湖南科技学院本科毕业论文(设计)诚信声明 本人郑重声明:所呈交的本科毕业论文,设计,～是本人在指导老师的指导下～独立进行研究工作所取得的成果～成果不存在知识产权争议～除文中已经注明引用的内容外～本论文不含任何其他个人或集体已经发表或撰写过的作品成果。对本文的研究做出重要贡献的个人和集体均已在文中以明确方式标明。本人完全意识到本声明的法律结果由本人承担。 本科毕业论文,设计,作者签名: 二: 一 their own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promote the brand. To establish brand awareness, awareness of the use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful planning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key breakthroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their horizons, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trust, mutual benefit, seeking win-win principle, in the framework of national policies and regulations, strict inspection and argumentation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injection the social investment to the industry group, to achieve leveraging the development, ensure that the value of state-owned assets.(five) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and workers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market competition, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the market. At the same time, according to the need of industrial development, vigorously the introduction of high-quality management management personnel, and strive to build a high-quality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structure optimization and upgrading ability, enhance core competitiveness, adapt to the need of market competition.(six) seriously study the policy for policy. Serious research about social support the development of cultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment policy, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to promote leapfrog development. 毕业论文(设计)任务书 基于弹簧原理的群机器人自动排列行为 课题名称: 算法研究 学生姓名: 系 别: 电子工程系 专 业: 电子信息工程 指导教师: their own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promote the brand. To establish brand awareness, awareness of the use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful planning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key breakthroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their horizons, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trust, mutual benefit, seeking win-win principle, in the framework of national policies and regulations, strict inspection and argumentation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injection the social investment to the industry group, to achieve leveraging the development, ensure that the value of state-owned assets.(five) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and workers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market competition, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the market. At the same time, according to the need of industrial development, vigorously the introduction of high-quality management management personnel, and strive to build a high-quality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structure optimization and upgrading ability, enhance core competitiveness, adapt to the need of market competition.(six) seriously study the policy for policy. Serious research about social support the development of cultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment policy, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to promote leapfrog development. 1、 主题词、关键词: 群机器人 分散控制 弹簧原理 Breve仿真 2、毕业论文(设计)内容要求: 我们的目标是建立一个群，表现出群机器人的自动排列的集体行为。首先，我们介绍了虚拟弹簧原理及其在实践中的应用。进而，以三个机器人组成最简单的机器人群，并以本文所设计的分布式控制算法表现它们自动排列的集体行为，使他们达到力的平衡状态，即等边三角形配置。然后扩展到大型机器人组合，执行类似算法，完成相应的自动排列，最终达到力的平衡状态。 大致如以下步骤: 1、机器人分散控制介绍与问题陈述 2、虚拟弹簧原理简介 3、分散控制算法及应用 4、三个一组简单机器人自动排列; 5、Breve仿真 6、扩展到大型机器人自动排列群行为 A 3、文献查阅指引: [1] G. Lee and N.Y. Chong, “Flocking controls for swarms of mobile robots inspired by fish schools”[J]. Recent advances in multi robot systems, A.Lazinica (Ed.). In-Tech Education and Publishing, Vienna, Austria, May 2008. [2] P. Ogren, and N. E. Leonard, “A convergent dynamic window approach to obstacle avoidance” [J]. IEEE Transactions on Robotics and Automation,Vol.21, No.2, pp. 188-195, 2005. [3] W. M. Spears, D. F. Spears, R. Heil, W. Kerr, “An overview of physicomimetics,” Swarm Robotics[J]. SAB 2004 International Workshop (Revised Selected Papers) E. ahin and W. M. Spear (Eds.), Lecture Notes in Computer Science, Vol. 3342,Springer-Verlag, 2005. [4] BRian Shucker, Todd Murphey, and John K. Bennett.Switching Rules for Decentralized Control with Simple Control Laws[J].College of Engineering, 430 UCB,University of Colorado,Boulder, Colorado 80309,July 2007 [5] Brian Shucker and John K. Bennett.Scalable Control of Distributed Robotic MacrosensoRs[J].Department of Computer Science,University of Colorado at Boulder, [6] Brian Shuckerand John K. Bennett.Target Tracking with Distributed Robotic Macrosensors[J].Department of Computer Science, 430 UCB,University of Colorado,October, 2005. [7] Brian Shucker and John K. Bennett.Virtual Spring Mesh Algorithms for Control of Distributed Robotic Macrosensors[J].Department of Computer Science,University of Colorado at Boulder,Technical Report CU-CS-996-05,May 2005 [8] Brian Shucker, Todd Murphey, and John K. Bennett,An Approach to Switching Control Beyond Nearest Neighbor Rules[J].College of Engineering, 430 UCB,University of Colorado,Boulder, Colorado 80309,June 2006. [9] Brian Shucker, Todd Murphey, and John K. Bennett.A Method Of Cooperative Control Using Occasional Non-Local Interactions[J].College of Engineering, 430 UCB,University of Colorado,Boulder, Colorado 80309,May 2006. [10] Wesley J.chun著，Python 核心编程[M].宋吉广译，人民邮电出版社; 第1版 (2008 年7月1日) [11] 莱德 夏海伦，Python 高级编程[M].北京:人民邮电出版社，2010年01月 4、毕业论文(设计)进度安排: (1) 第7学期的寒假，查文献，翻译阅读国内外相关论文; (2) 第8学期的第,1-2周，查文献，阅读机器人聚集性为相关论文; (3) 第3周，弹簧原理即机器人定向聚集与排列的问题演示，并分析分散控制算法设计; (4) 第4周了解分散控制相关知识，初步完成分散控制算法设计; (5) 第5周完成编程，迎接中期检查，填写中期检查表;进一步补充毕业论文内容; (6) 第6周熟悉Breve相关应用，进行模拟仿真，修改程序并进一步完善毕业论文内容; (7) 第7周完成毕业论文初稿; (8) 第8周定稿，填写相关表格; (9) 第9周毕业论文装订，准备答辩。 教研室: 负责人签名: 注:本任务书一式三份～由指导教师填写～经教研室审批后一份下达给学生～一份交指导教师～一份留系里存档。 their own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promote the brand. To establish brand awareness, awareness of the use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful planning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key breakthroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their horizons, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trust, mutual benefit, seeking win-win principle, in the framework of national policies and regulations, strict inspection and argumentation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injection the social investment to the industry group, to achieve leveraging the development, ensure that the value of state-owned assets.(five) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and workers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market competition, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the market. At the same time, according to the need of industrial development, vigorously the introduction of high-quality management management personnel, and strive to build a high-quality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structure optimization and upgrading ability, enhance core competitiveness, adapt to the need of market competition.(six) seriously study the policy for policy. Serious research about social support the development of cultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment policy, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to promote leapfrog development. 湖南科技学院本科毕业论文(设计)开题报告书 论文(设计)题目 基于弹簧原理的群机器人自动排列行为算法研究 作 者 姓 名 邹亚林 所属系、专业、年级 电子工程 系 电子信息工程 专业 2009 年级 指导教师姓名、职称 张丹 硕士 预计字数 10000 开题日期 2012-12-25 选题的根据: 1)本选题的理论、实际意义 利用本分散控制算法，能建议有效控制机器人群体行为，诸如聚集和排列等。并有效应用到机器人或相关领域应用。 2)国内外有关本选题的研究动态和自己的见解 机器人群行为控制概念的范围很广，机器人集中控制应用广泛，而分散控制的应用相对较弱，本控制算法能有效控制机器人群体行为，相对集中控制操作更简便。 主要内容: 绪论 1、机器人分散控制介绍与问题陈述 2、虚拟弹簧原理简介 3、分散控制算法及应用 4、三个一组简单机器人自动排列; 5、Breve仿真 6、扩展到大型机器人群自动排列行为 结论 研究方法: 1、 熟悉弹簧原理的相关应用。 2、 利用分布式算法对简单三个一组机器人分散控制。 3、 扩展到大型机器人群的自动排列控制及聚集，避障等集体行为 4、 利用Breve程序对实验结果进行仿真验证。 5、查阅国内外最新资料，开拓视野，对已有的成果加以分析利用。虚心向导师和同学学习，不断积累知识，再运用所学知识，完成论文。 C 完成期限和采取的主要措施: 1、完成期限:2013.1.1-2013.5.8 第7学期的寒假，查文献，翻译阅读国内外相关论文;第8学期的第,1-2周，查文献，阅读机 器人聚集性为相关论文;第3周，弹簧原理即机器人定向聚集与排列的问题演示，并分析分散控制算 法设计;第4周了解分散控制相关知识，初步完成分散控制算法设计;第5周完成编程，迎接中期检 查，填写中期检查表;进一步补充毕业论文内容;第6周熟悉BREVE相关应用，进行模拟仿真，修改 程序并进一步完善毕业论文内容;第7周完成毕业论文初稿;第8周定稿，填写相关表格;第9周毕 业论文装订，准备答辩。 2、采取的主要措施: 密切联系本组设计成员及毕业设计指导导师，寻求有关毕业设计信息，确定设计课题方向与设 计内容;充分利用图书馆和网络查阅相关资料，广泛获取必要的知识，了解最新研究动态;认真 向老师请教和同学进行学习交流，保障毕业设计的顺利完成。 主要参考资料: [1] G. Lee and N.Y. Chong, “Flocking controls for swarms of mobile robots inspired by fish schools”[J]. Recent advances in multi robot systems, A.Lazinica (Ed.). In-Tech Education and Publishing, Vienna, Austria, May 2008. [2] P. Ogren, and N. E. Leonard, “A convergent dynamic window approach to obstacle avoidance” [J]. IEEE Transactions on Robotics and Automation,Vol.21, No.2, pp. 188-195, 2005. [3] W. M. Spears, D. F. Spears, R. Heil, W. Kerr, “An overview of physicomimetics,” Swarm Robotics[J]. SAB 2004 International Workshop (Revised Selected Papers) E. ahin and W. M. Spear (Eds.), Lecture Notes in Computer Science, Vol. 3342,Springer-Verlag, 2005. [4] BRian Shucker, Todd Murphey, and John K. Bennett.Switching Rules for Decentralized Control with Simple Control Laws[J].College of Engineering, 430 UCB,University of Colorado,Boulder, Colorado 80309,July 2007 [5] Brian Shucker and John K. Bennett.Scalable Control of Distributed Robotic MacrosensoRs[J].Department of Computer Science,University of Colorado at Boulder, [6] Brian Shuckerand John K. Bennett.Target Tracking with Distributed Robotic Macrosensors[J].Department of Computer Science, 430 UCB,University of Colorado,October, 2005. [7] Brian Shucker and John K. Bennett.Virtual Spring Mesh Algorithms for Control of Distributed Robotic Macrosensors[J].Department of Computer Science,University of Colorado at Boulder,Technical Report CU-CS-996-05,May 2005 [8] Brian Shucker, Todd Murphey, and John K. Bennett,An Approach to Switching Control Beyond Nearest Neighbor Rules[J].College of Engineering, 430 UCB,University of Colorado,Boulder, Colorado 80309,June 2006. [9] Brian Shucker, Todd Murphey, and John K. Bennett.A Method Of Cooperative Control Using Occasional Non-Local Interactions[J].College of Engineering, 430 UCB,University of Colorado,Boulder, Colorado 80309,May 2006. [10] Wesley J.chun著，Python 核心编程[M].宋吉广译，人民邮电出版社; 第1版 (2008年7月1日) [11] 莱德 夏海伦，Python 高级编程[M].北京:人民邮电出版社，2010年01月 指导教师意见: 指导教师签名: 教研室意见: 签 名: 年 月 日 their own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promote the brand. To establish brand awareness, awareness of the use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful planning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key breakthroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their horizons, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trust, mutual benefit, seeking win-win principle, in the framework of national policies and regulations, strict inspection and argumentation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injection the social investment to the industry group, to achieve leveraging the development, ensure that the value of state-owned assets.(five) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and workers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market competition, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the market. At the same time, according to the need of industrial development, vigorously the introduction of high-quality management management personnel, and strive to build a high-quality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structure optimization and upgrading ability, enhance core competitiveness, adapt to the need of market competition.(six) seriously study the policy for policy. Serious research about social support the development of cultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment policy, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to promote leapfrog development. 开 题 报 告 会 纪 要 时间 2012年12月25日 地点 三教103 姓 名 职务(职称) 姓 名 职务(职称) 姓 名 职务(职称) 与 张新安 教授 唐云 讲师 潘海军 高级实验师 会 梁晓琳 讲师 李荣 讲师 张丹 硕士 人 员 会议记录摘要: 会议主持人: 记 录 人: 年 月 日 指系导 部 小 意组 意 见 见 负责人签名: 负责人签名: 年 月 日 年 月 日 注:此表由学生本人填写，一式三份，一份留系里存档，指导老师和本人各保存一份。 E 湖南科技学院毕业论文(设计)中期检查表 毕业论文(设计)基于弹簧原理的群机器人自动排列行为算法研究 题 目 学生姓名 邹亚林 学 号 200906002310 系 别 电子工程系 专 业 电子信息工程 指导教师 张丹检查日期 2013.4.6 指导教师检查情况记载及修改意见: 已经完成的工作: 1、弹簧原理即机器人定向聚集与排列的问题演示 2、分析分散控制算法设计; 3、初步完成分散控制算法设计; 下一步的工作: 1、成编程，一步补充毕业论文内容; 2、Breve相关应用，进行模拟仿真，修改程序并进一步完善毕业论文内容; 3、毕业论文初稿; 4、填写相关表格 5、论文装订，准备答辩。 签名: 注:此表用于指导教师在学生毕业论文,设计,初稿完成后对学生执行任务书情况进行中期检查时用～由指导教师填写。 their own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promote the brand. To establish brand awareness, awareness of the use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful planning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key breakthroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their horizons, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trust, mutual benefit, seeking win-win principle, in the framework of national policies and regulations, strict inspection and argumentation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injection the social investment to the industry group, to achieve leveraging the development, ensure that the value of state-owned assets.(five) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and workers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market competition, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the market. At the same time, according to the need of industrial development, vigorously the introduction of high-quality management management personnel, and strive to build a high-quality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structure optimization and upgrading ability, enhance core competitiveness, adapt to the need of market competition.(six) seriously study the policy for policy. Serious research about social support the development of cultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment policy, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to promote leapfrog development. 湖南科技学院毕业设计(论文)指导过程记录表 毕业论文(设计)题目 基于弹簧原理的群机器人自动排列行为算法研究 学生姓名 邹亚林 学号 200906002310 专业班级 电信0903 电子工程系 指导教师 张丹 职称 硕士 系(教研室) (电子科学与技术教研室) 指弹簧原理即机器人定向聚集与排列的问题探究 指导内容 记录(一) 学 生 签 名: 2013 年 1 月5 日 指导教师签名: 2013 年 1 月5 日 导 分析了分散控制算法设计 指导内容 记录(二) 学 生 签 名: 2013 年 2月3 日 过 指导教师签名: 2013 年 2月3 日 完成分散控制算法设计 指导内容 程 记录(三) 学 生 签 名: 2013年2 月 18 日 指导教师签名: 2013年 2 月 18 日 完成了编程 记 指导内容 记录(四) 学 生 签 名: 2013年 3 月6 日 录 指导教师签名: 2013年 3 月 6 日 G 指指导了模拟仿真 指导内容 记录(五) 学 生 签 名: 2013年 3 月25日 导 指导教师签名: 2013年3 月 25日 完善毕业论文内容 指导内容 记录(六) 过 学 生 签 名: 2013年 4 月 12 日 指导教师签名: 2013年 4 月 12 日 格式校订 程 指导内容 记录(七) 学 生 签 名: 2013年 4 月 22 日 指导教师签名: 2013年 4 月 22 日 记 查漏补缺 指导内容 记录(八) 学 生 签 名: 2013 年 5月 6 日 录 指导教师签名: 2013 年 5月 6 日 答辩小组组长 意见 组长(签名): 年 月 日 注:本表与毕业论文一起装订存档。 their own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promote the brand. To establish brand awareness, awareness of the use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful planning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key breakthroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their horizons, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trust, mutual benefit, seeking win-win principle, in the framework of national policies and regulations, strict inspection and argumentation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injection the social investment to the industry group, to achieve leveraging the development, ensure that the value of state-owned assets.(five) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and workers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market competition, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the market. At the same time, according to the need of industrial development, vigorously the introduction of high-quality management management personnel, and strive to build a high-quality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structure optimization and upgrading ability, enhance core competitiveness, adapt to the need of market competition.(six) seriously study the policy for policy. Serious research about social support the development of cultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment policy, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to promote leapfrog development. 湖南科技学院本科毕业论文,设计，评审表 论文题目 基于弹簧原理的群机器人自动排列行为算法研究 作者姓名 邹亚林 所属系、专业、年级 电子工程系 电子信息工程 专业 2009年级 指导教师 张丹 硕士 字 数 定稿日期 10000 2013.5.8 姓名、职称 近些年来，群机器人的研究势头强劲，并且取得了巨大成就。基于相关技术的 迅速发展，以及可利用的机器人成本较低，为一个特定的任务部署大量低成本机器 人的想法开始出现在各种工程应用上，群机器人的涡轮机检查就是其中一个实例。中 传感器网络，搜索和救援，监视等都是一些群体机器人的潜在应用领域。 文 本文提出了一种基于弹簧原理的群机器人自动排列行为分布式控制算法。我们 的目标是建立一个机器人群，表现出他们的自动排列的集体行为。我们所有编程利 摘 用的是Python+Breve，仿真都是在Breve环境下实现，该仿真环境为我们成功演示 了群机器人的自动排列行为。最后我们设想利用本算法，实现群机器人执行聚集， 要 避障等集体行为。该控制算法，由群集的所有成员执行，操作简单，方便。 然而，笔者并没有也不可能解决机器人的所有可能的配置，尤其是省略了一些 相当复杂的特殊情况，所以，这里提出的算法具有一定的局限性。 关键词 群机器人 分散控制 弹簧原理 Breve仿真 In recent years, there have gained large momentum of research in swarm robots.and made great achievements.Because of the rapid development of related technology, as well as the use of robots with low cost, the idea for a specific task to deploy a large number of low cost robot began to appear in a variety of engineering 英 applications.inspection of turbines with swarm robots is described in,For instance . Sensor networks, search and rescue, surveillance are some of the potential application areas of swarm robotics. This article proposes a decentralized control algorithm for swarm robots 文 automatic arrangement based on the spring principle. Our objective is build a swarm of robots which can demonstrate collective behavior as automatic arrangement and flocking behavior . The control algorithm is performed by all the members of the assembled, whose operation is simple and convenient. We illustrate automatic 摘 arrangement behavior of swarm robot with figures, and illustrate the accumulation of the extension and obstacle avoidance, etc. And our programming language is Python+Breve,we simulate the results by using the Breve which verifies the successful realization of swarm robots’automatic arrangement behavior. 要 However, the author is not impossible to solve all possible configuration of the robot, especially the omitted some special situation is quite complex, so the algorithm presented here has certain limitation. Swarm robots Decentralized control Spring principle Breve simulation关键词 I 指导教师评定成绩 评审 满指导教师 评审要素 评审内涵 基元 分 实评分 目的明确 选题符合专业培养目标～体现学科、专业特点和教学计10 符合要求 划的基本要求～达到毕业论文,设计,综合训练的目的。 符合本学科的理论发展～有一定的学术意义,对经济建设选题质理论意义或 和社会发展的应用性研究中的某个理论或方法问题进行研10 量25% 实际价值 究～具有一定的实际价值。 选题恰当 题目规模适当～难易度适中,有一定的科学性。 5 查阅文献 能独立查阅相关文献资料～归纳总结本论文所涉及的有10 资料能力 关研究状况及成果。 综合运用 能运用所学专业知识阐述问题,能对查阅的资料进行整理10 知识能力 和运用,能对其科学论点进行论证。 研究的 整体思路清晰,研究方案合理可行。 5 能力水设计能力 平40% 研究方法和能运用本学科常规研究方法及相关研究手段,如计算机、手段的运用10 实验仪器设备等,进行实验、实践并加工处理、总结信息。 能力 外文应用 能阅读、翻译一定量的本专业外文资料、外文摘要和外文5 能力 参考书目,特殊专业除外,体现一定的外语水平。 文题相符 较好地完成论文选题的目的要求。 5 写作水平 论点鲜明,论据充分,条理清晰,语言流畅。 15 论文质 符合学术论文的基本要求。用语、格式、图表、数据、量和量35% 写作规范 10 单位、各种资料引用规范化、符合。 论文篇幅 10000字左右。 5 实评总分 成绩等级 指导教师评审意见: 指导教师签名: 说明:评定成绩分为优秀、良好、中等、及格、不及格五个等级～实评总分90—100分记为优秀～80—89分记为良好～70—79分记为中等～60—69分记为及格～60分以下记为不及格。 their own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promote the brand. To establish brand awareness, awareness of the use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful planning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key breakthroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their horizons, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trust, mutual benefit, seeking win-win principle, in the framework of national policies and regulations, strict inspection and argumentation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injection the social investment to the industry group, to achieve leveraging the development, ensure that the value of state-owned assets.(five) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and workers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market competition, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the market. At the same time, according to the need of industrial development, vigorously the introduction of high-quality management management personnel, and strive to build a high-quality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structure optimization and upgrading ability, enhance core competitiveness, adapt to the need of market competition.(six) seriously study the policy for policy. Serious research about social support the development of cultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment policy, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to promote leapfrog development. 评阅教师评定成绩 评审满评阅教师 评审要素 评审内涵 基元 分 实评分 目的明确 选题符合专业培养目标～体现学科、专业特点和教学计10 符合要求 划的基本要求～达到毕业论文,设计,综合训练的目的。 选题符合本学科的理论发展～有一定的学术意义,对经济建设理论意义或 质量和社会发展的应用性研究中的某个理论或方法问题进行研10 实际价值 25% 究～具有一定的实际价值。 选题恰当 题目规模适当～难易度适中,有一定的科学性。 5 查阅文献 能独立查阅相关文献资料～归纳总结本论文所涉及的有10 资料能力 关研究状况及成果。 综合运用 能运用所学专业知识阐述问题,能对查阅的资料进行整理10 知识能力 和运用,能对其科学论点进行论证。 能力研究方案的 整体思路清晰,研究方案合理可行。 5 水平设计能力 40% 研究方法和能运用本学科常规研究方法及相关研究手段,如计算机、手段的运用10 实验仪器设备等,进行实验、实践并加工处理、总结信息。 能力 外文应用 能阅读、翻译一定量的本专业外文资料、外文摘要和外文5 能力 参考书目,特殊专业除外,体现一定的外语水平。 文题相符 较好地完成论文选题的目的要求。 5 论文写作水平 论点鲜明,论据充分,条理清晰,语言流畅。 15 质量符合学术论文的基本要求。用语、格式、图表、数据、量和写作规范 10 35% 单位、各种资料引用规范化、符合标准。 论文篇幅 10000字左右。 5 实评总分 成绩等级 评阅教师评审意见: 评阅教师签名: 说明:评定成绩分为优秀、良好、中等、及格、不及格五个等级～实评总分90—100分记为优秀～80—89分记为良好～70—79分记为中等～60—69分记为及格～60分以下记为不及格。 K 湖南科技学院本科毕业论文,设计，答辩记录表 论文题目 基于弹簧原理的群机器人自动排列行为算法研究 作者姓名 邹亚林 所属系、专业、年级 电子工程系 电子信息工程专业 2009年级 指导教师 张丹，硕士 姓名、职称 答 辩 会 纪 要 时间 2013年5月 18日 地点 三教103 答 姓 名 职务(职称) 姓 名 职务(职称) 姓 名 职务(职称) 辩 张新安 教授 唐云 讲师 潘海军 高级实验师 小 梁晓琳 讲师 李荣 讲师 张丹 硕士 组 成 员 答辩中提出的主要问题及回答的简要情况记录: 1、为什么选择这个题目, 近年来，群机器人的研究势头强劲，并且取得了巨大成就。基于相关技术的迅速发展，以及可利用的机器人成本较低，为一个特定的任务部署大量低成本机器人的想法开始出现在各种工程应用上。 2、分布式控制算法相对集中控制算法的优势? 分布式控制算法只需在每个机器人安装控制程序，而不要安装各种通信手段或大型通信设备，形成通讯网络。而且分布式控制算法，特别针对那些用集中控制算法处理会显得笨重复杂的大型机器人群。 3、Breve编程与仿真的优势, Breve是一种用于分散系统和人工生命模拟的免费软件。我们所有的模拟工作都可以基于breve仿真环境开发，他的仿真参数可以为各种实验改变。 会议主持人: 记 录 人: 年 月 日 their own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promote the brand. To establish brand awareness, awareness of the use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful planning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key breakthroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their horizons, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trust, mutual benefit, seeking win-win principle, in the framework of national policies and regulations, strict inspection and argumentation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injection the social investment to the industry group, to achieve leveraging the development, ensure that the value of state-owned assets.(five) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and workers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market competition, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the market. At the same time, according to the need of industrial development, vigorously the introduction of high-quality management management personnel, and strive to build a high-quality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structure optimization and upgrading ability, enhance core competitiveness, adapt to the need of market competition.(six) seriously study the policy for policy. Serious research about social support the development of cultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment policy, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to promote leapfrog development. 评语: 答 辩 小 组 意 见 评定等级: 负责人(签名): 年 月 日 评语: 系 学 位 委 员 会 意 见 论文(设计)最终评定等级: 负责人(签名): 系部(公章) 年 月 日 评语: 校 学 位 委 员 会 评定等级: 意 负责人(签名): 年 月 日 见 M 目录 绪论....................................................................................................................................., 1 虚拟弹簧........................................................................................................................., 1.1 虚拟弹簧原理......................................................................................................., 1.1.1 对象............................................................................................................., 1.1.2 类描述........................................................................................................., 1.1.3 类方法........................................................................................................., 1.2 虚拟弹簧应用......................................................................................................., 2 分布式控制....................................................................................................................., 2.1 三角配置..............................................................................................................., 2.2 分布式控制..........................................................................................................., 2.3 程序流程..............................................................................................................., 2.4 编程......................................................................................................................., 2.5 仿真......................................................................................................................., 3 扩展到大型机器人群.................................................................................................,, 3.1 视角设定...........................................................................................................,, 3.2 动态选择原理...................................................................................................,, 3.3 分布式控制.......................................................................................................,, 3.4 仿真...................................................................................................................,, 3.5 群机器人避障机制...........................................................................................,, 结论.................................................................................................................................,, 参考文献.........................................................................................................................,, 致 谢.............................................................................................................................,, I 基于弹簧原理的群机器人自动排列行为算法研究 摘要 近些年来，群机器人的研究势头强劲，并且取得了巨大成就。基于相关技术的迅速发展，以及可利用的机器人成本较低，为一个特定的任务部署大量低成本机器人的想法开始出现在各种工程应用上，群机器人的涡轮机检查就是其中一个实例。传感器网络，搜索和救援，监视等都是一些群体机器人的潜在应用领域。 本文提出了一种基于弹簧原理的群机器人自动排列行为分布式控制算法。我们的目标是建立一个机器人群，表现出他们的自动排列的集体行为。我们所有编程利用的是Python+Breve，仿真都是在Breve环境下操作实现，该仿真环境为我们成功演示了群机器人的自动排列行为。最后我们设想利用本算法，实现群机器人执行聚集，避障等集体行为。该控制算法，由群集的所有成员执行，操作简单，方便。 然而，笔者并没有也不可能解决机器人的所有可能的配置，尤其是省略了一些相当复杂的特殊情况，所以，这里提出的算法具有一定的局限性。 【关键词】 群机器人 分散控制 弹簧原理 Breve仿真 their own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promote the brand. To establish brand awareness, awareness of the use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful planning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key breakthroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their horizons, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trust, mutual benefit, seeking win-win principle, in the framework of national policies and regulations, strict inspection and argumentation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injection the social investment to the industry group, to achieve leveraging the development, ensure that the value of state-owned assets.(five) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and workers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market competition, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the market. At the same time, according to the need of industrial development, vigorously the introduction of high-quality management management personnel, and strive to build a high-quality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structure optimization and upgrading ability, enhance core competitiveness, adapt to the need of market competition.(six) seriously study the policy for policy. Serious research about social support the development of cultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment policy, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to promote leapfrog development. Algorithm for Swarm Robots Automatic Arrangement Summary In recent years, there have gained large momentum of research in swarm robots.and made great achievements.Because of the rapid development of related technology, as well as the use of robots with low cost, the idea for a specific task to deploy a large number of low cost robot began to appear in a variety of engineering applications.inspection of turbines with swarm robots is described in,For instance . Sensor networks, search and rescue, surveillance are some of the potential application areas of swarm robotics. This article proposes a decentralized control algorithm for swarm robots automatic arrangement based on the spring principle. Our objective is build a swarm of robots which can demonstrate collective behavior as automatic arrangement and flocking behavior . The control algorithm is performed by all the members of the assembled, whose operation is simple and convenient. We illustrate automatic arrangement behavior of swarm robot with figures, and illustrate the accumulation of the extension and obstacle avoidance, etc. And our programming language is Python+Breve,we simulate the results by using the Breve which verifies the successful realization of swarm robots’automatic arrangement behavior. However, the author is not impossible to solve all possible configuration of the robot, especially the omitted some special situation is quite complex, so the algorithm presented here has certain limitation. 【Keywords】 Swarm robots Decentralized control Spring principle Breve simulation III 绪论 表面上，鸟类或鱼类群体行为(譬如捕食，躲避捕食者的攻击，迁徙行为等等)是个体成员自组织和自适应的结果，研究表明，这些群体行为实际上是一些由个体成员简单模仿扩展到复杂群体模仿的行为。群机器人技术研究的目标之一就是人工实现机器人简单的群体模仿行为，通常以最少机器人群即三个机器人组合为代表进行研究，继而扩展到一些复杂机器人群的集体模仿行为，进而模仿鸟类或鱼类的群体行为。 到目前为止，有两个主要的方法来实现如上所述的目标，他们分别是集中控制方法与分布式控制方法。所谓集中控制方法就是由领导者或领导小组决定的群体行为，他们可以利用各种通信手段或大型通信设备，形成通讯网络，统一行动，统一配置。而分布式控制方法，是由个体机器人之间的相互作用决定群体行为，我们不用建立复杂的通信网络，也不需要在每个机器人身上安装通信设备，我们的方法简单，可操控性强。 事实上，我们可以使用各种不同的控制方法来实现这一目标，但它们有一个共 [1]同的特点就是，他们通常来源于对自然的观察。例如，几何的方法(运用数学几 [2]何原理研究机器人群体行为)，自然物理力量(基于虚拟物理原理分布式控制)， [3]基于行为的方法(基于简单局部行为的完全分布式的控制)等等。而在这里，我们的研究任务是基于虚拟物理机制，利用分布式控制方法关注那些用机器人集中控制方法处理会显得笨重的大集团。 本文基于弹簧原理，开发了一个新的控制方法，为群机器人演示自动排列的集体行为，这样很容易利用真正的机器人在实践中实现群体行为。在本文中，我们提出了相当简单但强大的算法。无论机器人的初始分布如何，我们算法的控制策略都提供了理想的结果。 研究中，我们假设一组机器人都是完全自主，均匀分布的。机器人被分配一个平面坐标系，他们通过传感器向特定方向感觉到邻近的机器人，方向由用户自定义，但是他们的感知范围是有限的。此外，我们不允许利用直接或集中的通信机制让机器人自由通信。每个机器人建模为二维空间的一个点，他们的局部坐标与环境系统协调。然后建立虚拟的弹簧控制机制，他们之间的相互作用力指引机器人运动。机器人根据他们的环境和动态，显示出自动排列的集体行为。在实践中，我们结合简化的物理机制——虚拟弹簧原理，合成了这个强大的实用算法。 , 我们的分布式控制算法的另一个优点是它的简单性。它可以轻易通过实际的机器人实现该算法，达到理想的配置。它是可扩展的，我们可以利用本控制算法，实现群机器人复杂群行为，譬如聚集，避障等。 我们的算法，忽略了一些物理变量，在实际操作中会产生相应误差。当摩擦或阻尼相当大一直无法忽略时，会发生错误，甚至溢出。所以，我们的控制算法还有待进一步改进。另外，我们的实验还可以进一步扩展，完成群机器人复杂的群体行为，譬如避障等植绒行为。而且，利用本算法，我们可以轻易把实验由二维空间扩展到三维空间，进行更为复杂的编程实验与仿真。 their own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promote the brand. To establish brand awareness, awareness of the use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful planning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key breakthroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their horizons, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trust, mutual benefit, seeking win-win principle, in the framework of national policies and regulations, strict inspection and argumentation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injection the social investment to the industry group, to achieve leveraging the development, ensure that the value of state-owned assets.(five) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and workers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market competition, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the market. At the same time, according to the need of industrial development, vigorously the introduction of high-quality management management personnel, and strive to build a high-quality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structure optimization and upgrading ability, enhance core competitiveness, adapt to the need of market competition.(six) seriously study the policy for policy. Serious research about social support the development of cultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment policy, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to promote leapfrog development. 1 虚拟弹簧 1.1 虚拟弹簧原理 1.1.1 对象 弹簧: 这一类包括作为的文件Spring.tz的一部分。 要使用这个类仿真，包括行“ @use Spring” 1.1.2 类描述 弹簧是用来建立两个即时对象之间的弹性连接。弹簧定义为两个对象之间的连接，而不是物理对象本身。这样，弹簧可以绕过对方而不发生碰撞。 我们可以为弹簧指定一些研究参数。初始长度参数指定的弹簧达到力的平衡时的长度，用x0表示。弹簧总是会施加一个力，试图扩大或收缩到指定的初始长度。瞬时长度，是指弹簧未达到初始状态时某个瞬间的长度，用x表示。强度参数指定用于试图达到弹簧的自然长度的力的大小与长度变化之比，用C表示。最后，弹簧的阻尼参数指定的摩擦或阻尼与弹簧的速度之间的比例，用k表示。 如果物理现实不能忽略，弹簧应慎用。弹簧的强度和弹簧的阻尼常数增加，可以产生巨大的力量，这将导致数值溢出或其他不良行为。保持尽可能选用强度和阻尼常数低的弹簧来避免这种行为。 1.1.3 类方法 使用弹簧连接实物: 连接; 获取瞬时长度; 获取和设置弹簧参数: 获取力; 获取长; 获取链接; 设置; 设置阻尼; 设置扩展协议; , 设置增量; 设置长度; 设置最大力量; 设置模式; 设置强度; 弹簧从springLink1连接springLink2，可选参数点1和点2是指定位置上的弹簧连接的对象。默认值是(0，0，0)。如果省略长度的变量，长度默认为0。 获得瞬间长度: 此方法返回瞬时(拉伸或压缩)弹簧长度，而不是“自然”的长度。 获得力: 返回所施加的力，这个弹簧在某瞬时的量。返回值表示力的大小。力的方向是确定的位置的弹簧连接。 获得长: 此方法返回弹簧的自然长度。另见瞬时长度，返回瞬时(拉伸或压缩)弹簧长度。 获得链接: 返回一个列表，有两个项目，都加入了这个弹簧的链接。 设置协议: 设置为“协议的弹簧装置”，如果是扩展，弹簧长度大于其自然长度，弹簧将收缩，但不会推到更小的长度。这使得弹簧的行为更像是一条绳子。另请参阅设置扩展和设置协议。 设置阻尼到newDamping(double): 设置弹簧阻尼到newDamping。 设置扩展协议: 设置一个弹簧施加力扩大时，弹簧被压小于自然长度，当弹簧被拉到大于自然长度的协议。这是一个弹簧的默认行为。 设置膨胀: “膨胀”是指设置一个弹簧，如果弹簧长度小于其自然长度，弹簧将扩大，但是，弹簧长度不会大于它的初始长度。这是弹簧的默认行为。 设置newLength的长度(double): 设置弹簧的newLength的长度。 设定最大新钜力(double): their own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promote the brand. To establish brand awareness, awareness of the use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful planning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key breakthroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their horizons, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trust, mutual benefit, seeking win-win principle, in the framework of national policies and regulations, strict inspection and argumentation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injection the social investment to the industry group, to achieve leveraging the development, ensure that the value of state-owned assets.(five) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and workers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market competition, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the market. At the same time, according to the need of industrial development, vigorously the introduction of high-quality management management personnel, and strive to build a high-quality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structure optimization and upgrading ability, enhance core competitiveness, adapt to the need of market competition.(six) seriously study the policy for policy. Serious research about social support the development of cultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment policy, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to promote leapfrog development. 设置可选的最大力量，弹簧自定义。这可以被用来，作为安全指引防止不切实际的大力量，造成不稳定的仿真。 如果最大的力值被设置为0，这是默认值，则在弹簧力是无限的。 设置模式patternString(string): 设置弹簧的绘制风格。patternString是一个字符串，16个空格和/或破折号指定线条图案被绘制。厚厚的虚线弹簧，例如，将使用模式“--------”。字符串“”，可以使用使弹簧不可见。如果没有指定样式，虚线绘制。 设置强度到newStrength(double): 设置弹簧的力到newStrength。 1.2 虚拟弹簧应用 [4-9]这里我们介绍虚拟弹簧的应用。我们设定一个机器人Ri，目的是计算其所受力F和目标位置Pt。我们定义它与其他两个相邻的机器人距离为x，虚拟弹簧产生的虚拟弹力F=C(xi-x0)。一旦目标位置确定，Ri会以相应速度v走向它。由于每个机器人都有这样的动机和行为，因此，三组机器人群最终可以动态地保持力的平衡配置，相应受力和速度由虚拟弹簧刚度决定，最终的距离也由弹簧刚度决定，其刚度用户自定义为C，相应的达到力的平衡状态时机器人之间的距离即虚拟弹簧的初始长度为x0。 , 2 分布式控制 2.1 三角配置 我们最初的研究涉及小规模机器人群的自动排列，这表现为聚集行为。预计三个初始位置任意的机器人群聚集并最终保持力的平衡状态，即要求的等边三角形配置。图1显示了这种机器人的配置实例。我们定义机器人传感器向东定向选择相邻机器人，弹簧初始长度为x0。如图1所示，图中的左半部分显示了三种可能的机器人的构型，右半部分显示最终期望的机器人动态配置。 图1 三机器人不同初始状态和最终配置 2.2 分布式控制 每个机器人只需要执行三个局部行为然后不断循环。这些局部行为分别是: their own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promote the brand. To establish brand awareness, awareness of the use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful planning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key breakthroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their horizons, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trust, mutual benefit, seeking win-win principle, in the framework of national policies and regulations, strict inspection and argumentation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injection the social investment to the industry group, to achieve leveraging the development, ensure that the value of state-owned assets.(five) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and workers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market competition, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the market. At the same time, according to the need of industrial development, vigorously the introduction of high-quality management management personnel, and strive to build a high-quality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structure optimization and upgrading ability, enhance core competitiveness, adapt to the need of market competition.(six) seriously study the policy for policy. Serious research about social support the development of cultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment policy, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to promote leapfrog development. 步骤1:利用本地传感器定向搜索相邻机器人的位置; 步骤2:执行算法计算与相邻机器人之间的作用力并计算目标位置; 步骤3:以相应速度沿力的方向走向目标位置。 2.3 程序流程 根据上述的的控制算法，我们制定了大致程序，首先对机器人进行初始化设置，设定弹簧的刚度与初始长度，在进行控制算法相应操作，选择机器人，测距，计算，运动等。根据此流程，我们绘制了相应流程图，这样我们可以很方便进行编程等操作。流程图如图2所示。 初始化 选择相邻机器人 人 利用本地传感终端测距X X是否等于Xo 是 否 是 计算弹力，并移动 否 X是否等于Xo 是 输出机器人位置 图2 程序流程图 , 2.4 编程 [10-11]我们所有编程都是利用Python语言，在Breve环境下实现。Python是一种解释型、面向对象、动态数据类型的高级程序设计语言。 Breve是一个自由开源软件包，允许用户构建分布式系统和人工生命的三维模拟。用户可以定义三维世界中的多智能体(multi-agent)系统的行为，以便观察它们的相互作用。 Breve涵盖了三维人工体物理模拟，具有对物体之间冲撞行为的探测和响应机制以及一个OpenGL显示引擎。因此它可以用来模拟并以可视化方式呈现出一个半现实(或者说接近真实)的生物和世界。 Breve模拟过程的代码是用一种叫做steve的易用语言编写的。这种语言具有面向对象的特点，同时具有多种语言的优点，如C语言、Perl和Objective-C。Breve也包括对使用Python编写模拟过程的完全支持。 Breve的一大特色在于其可扩展内嵌插件architecture，允许人们编写插件并使之与先前已有的代码和工程相互作用，而且具有对用于进化计算的Push语言的内部支持。 部分编程如下: # -*- coding: utf-8 -*- import sys def get_the_data(): x1 = float(1.234) x2 = float(3.578) return x1, x2 def get_the_result(c, x1, x2, x0): c, x1, x2, x0 = float(c), float(x1), float(x2), float(x0) f1 = abs(c*(x1-x0)) f2 = abs(c*(x2-x0)) return f1, f2 def main(): their own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promote the brand. To establish brand awareness, awareness of the use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful planning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key breakthroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their horizons, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trust, mutual benefit, seeking win-win principle, in the framework of national policies and regulations, strict inspection and argumentation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injection the social investment to the industry group, to achieve leveraging the development, ensure that the value of state-owned assets.(five) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and workers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market competition, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the market. At the same time, according to the need of industrial development, vigorously the introduction of high-quality management management personnel, and strive to build a high-quality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structure optimization and upgrading ability, enhance core competitiveness, adapt to the need of market competition.(six) seriously study the policy for policy. Serious research about social support the development of cultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment policy, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to promote leapfrog development. try: c = float(raw_input("请输入弹簧刚度:")) print "c = %.3f" %c except: print "弹簧刚度输入错误" sys.exit() try: x0 = float(raw_input("请输入弹簧原始长度:")) print "x0 = %.3f" %x0 except: print '弹簧原始长度输入错误' sys.exit() x1, x2 = get_the_data() print "x1 = %.3f" %x1 print "x2 = %.3f" %x2 f1, f2 = get_the_result(c, x1, x2, x0) print "f1 = %.3f" %f1 print 'f2 = %.3f' %f2 if __name__ == '__main__': main() 2.5 仿真 我们所有的模拟工作基于breve仿真环境开发的，他的仿真参数可以为各种实验改变。这些参数包括机器人的数量(number robots)，感应范围(sensing rang)，距离(sidelentriangle)和初始位置 (initial-izespace: (xscale, yscale))。 我们最初的实验中涉及简单的三个机器人群。图3显示了这些模拟实例。机器人能保持在一个力的平衡状态下，共同演示一些聚集行为。同时，根据动态选择远离，每个机器人在模拟的开始需要感知其他两个相邻机器人。在图3中，我们提出了三个机器人聚集行为的两种典型的初始配置。 , (b)、弹簧长度小于初始长度时机器人自动排列 (b)、弹簧长度大于初始长度时机器人自动排列 图3 三机器人自动排列行为 their own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promote the brand. To establish brand awareness, awareness of the use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful planning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key breakthroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their horizons, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trust, mutual benefit, seeking win-win principle, in the framework of national policies and regulations, strict inspection and argumentation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injection the social investment to the industry group, to achieve leveraging the development, ensure that the value of state-owned assets.(five) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and workers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market competition, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the market. At the same time, according to the need of industrial development, vigorously the introduction of high-quality management management personnel, and strive to build a high-quality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structure optimization and upgrading ability, enhance core competitiveness, adapt to the need of market competition.(six) seriously study the policy for policy. Serious research about social support the development of cultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment policy, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to promote leapfrog development. 3 扩展到大型机器人群 3.1 视角设定 由于我们的机器人都是完全自主，均匀分布的于二维坐标系，他们只能通过传感器向特定方向感觉到邻近的机器人，感知范围有限，而且，不允许利用直接或集中的通信机制让机器人自由通信。每个机器人建模为二维空间的一个点，他们的局部坐标与环境系统协调。在这里，每个机器人只能定向选择相邻机器人。 然后利用电流控制，建立虚拟的弹簧控制机制，他们之间的相互作用力指引机器人运动。为了便于观察，在以下的模拟研究中，机器人运动的方向用箭头表示，速度和运动方向由相应的参数自主控制，机器人的个体行为异步且相互独立。 3.2 动态选择原理 该算法的目的是使一组从任意不同的位置开始的三个机器人群完成相应的分布式算法，最终达到等边三角形配置，在虚拟弹簧机制内，表现为力的平衡状态。为了达到这个目的，在任意给定的时间，每个机器人与选择的其他两个定向的机器人保持相等的的作用力，作用力的合力指向两个选择的机器人之间的中心点位置。因此，每个机器人使用本地传感器定向检测到其他两个相邻的机器人。 每个机器人在群中都需要选择两个机器人作为战略邻居(Rs1和Rs2)。Ri位于Pi，选择距离最短的第一个邻居Rs1，并确定其位置为Ps1。然后根据相应的程序判断，是否要进行运动，当机器人达到理想的配置时，选择第二个相邻机器人。第二个相邻机器人的选择方法定义为,从Ps1 通过Ps2到Pi的虚拟弹力之和最小化，也就是二维空间上组成的三角形周长最小的配置。 最后我们根据所需数据，利用弹簧原理，计算所受虚拟弹力，以及它们可能移动到的目标位置，继而移动。目标位置上，该机器人与其他两个机器人达到力的平衡状态。 3.3 分布式控制 对于一个超过三个机器人的群，我们结合动态选择原理，选择战略邻居(Rs1和Rs2)。Ri位于Pi，选择距离最短的第一个邻居Rs1，并确定其位置为Ps1。第二个邻居Rs2如下选择，从Ps1 通过Ps2到Pi的力的总和最小，也就是构成的三角形周长最小。然后机器人Ri可以在任何时间有效运行分布式控制算法。 ,, 由于每个机器人在群中试图与自己选择的两个动态邻居机器人保持力的总和最小化的配置，因此，群可以从当地的成员之间的相互作用中保持多个力平衡状态的配置。通过动态地选择邻居，算法可以扩展到较大的群。图4显示了大型机器人群最终可能的排列结果。 图4 群机器人自动排列最终配置 3.4 仿真 如前所述，在模拟的开始，每个机器人应该在其有限的感知范围内至少有两个邻居。他们的初始状态任意且运动异步。图5显示一大群的聚集行为。 图5 大量机器人自动排列行为 their own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promote the brand. To establish brand awareness, awareness of the use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful planning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key breakthroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their horizons, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trust, mutual benefit, seeking win-win principle, in the framework of national policies and regulations, strict inspection and argumentation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injection the social investment to the industry group, to achieve leveraging the development, ensure that the value of state-owned assets.(five) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and workers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market competition, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the market. At the same time, according to the need of industrial development, vigorously the introduction of high-quality management management personnel, and strive to build a high-quality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structure optimization and upgrading ability, enhance core competitiveness, adapt to the need of market competition.(six) seriously study the policy for policy. Serious research about social support the development of cultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment policy, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to promote leapfrog development. 3.5 群机器人避障机制 避障部分是来自分散控制和自适应的植绒算法的自主移动机器人以及本地交互算法集成。由此算法产生的结果的能够躲避环境的障碍，并定期配置涌向一个目标。在我们的方法中，如果一个机器人靠近障碍物，它将获得一个排斥力RF，受RF的影响对应的会产生一个排斥的速度RV。RV的方向取决于出现在机器人附近最近的障碍点S。为简单起见，我们假设的障碍是一个封闭的圆，用O表示。为了避开障碍物，机器人Ri将调整瞬间速度。我们假设障碍物的安全边际d，如果Ri与障碍物之间的距离大于D，不施加斥力;否则将对Ri施加斥力，以避免碰撞。相应的排斥速度用下列公式计算: Vr=(Pi-O)/(Pi-O)*(d-(Pi-O))/d 这个公式意味着，速度线性地从0到1的增加(一旦机器人通过安全边际，移动，直到到达O点)。在最坏的情况下，即当Ri撞击障碍物，Ri的速度将变为0。 事实上，我们的本地交互算法总是尽量让Ri合理地远离障碍物，甚至在邻居发生碰撞的情况下，它仍跟随它的邻居。图6和图7显示了群体行为在有或没有障碍的环境下的仿真结果。 图6 群机器人聚向无障碍目标 ,, 图7 群机器人聚向有障碍目标 their own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promote the brand. To establish brand awareness, awareness of the use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful planning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key breakthroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their horizons, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trust, mutual benefit, seeking win-win principle, in the framework of national policies and regulations, strict inspection and argumentation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injection the social investment to the industry group, to achieve leveraging the development, ensure that the value of state-owned assets.(five) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and workers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market competition, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the market. At the same time, according to the need of industrial development, vigorously the introduction of high-quality management management personnel, and strive to build a high-quality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structure optimization and upgrading ability, enhance core competitiveness, adapt to the need of market competition.(six) seriously study the policy for policy. Serious research about social support the development of cultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment policy, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to promote leapfrog development. 结论 本文基于弹簧原理，为群机器人演示了一个分布式控制的自动排列行为算法。机器人根据他们的环境和动态，显示出自动排列的集体行为。我们结合简化的物理机制——虚拟弹簧原理，合成了这个强大的实用算法。我们的分布式控制算法的另一个优点是它的简单和易操控性。它可以轻易通过实际的机器人实现该算法，达到理想的配置。而且它是可扩展的，我们可以利用本控制算法，实现群机器人复杂群行为，譬如聚集，避障等，而且，我们很容易把它很容易扩展到三维空间，这在今后的研究中可能成为我们主要的兴趣。 ,, 参考文献 [1] G. Lee and N.Y. Chong, “Flocking controls for swarms of mobile robots inspired by fish schools”[J]. Recent advances in multi robot systems, A.Lazinica (Ed.). In-Tech Education and Publishing, Vienna, Austria, 2008.5 [2] P. Ogren, and N. E. Leonard, “A convergent dynamic window approach to obstacle avoidance” [J]. IEEE Transactions on Robotics and Automation,Vol.21, No.2, pp. 188-195, 2005 [3] W. M. Spears, D. F. Spears, R. Heil, W. Kerr, “An overview of physicomimetics,” Swarm Robotics[J]. SAB 2004 International Workshop (Revised Selected Papers) E. ahin and W. M. Spear (Eds.), Lecture Notes in Computer Science, Vol. 3342,Springer-Verlag, 2005 [4] BRian Shucker, Todd Murphey, and John K. Bennett.Switching Rules for Decentralized Control with Simple Control Laws[J].College of Engineering, 430 UCB,University of Colorado,Boulder, Colorado 80309, 2007.7 [5] Brian Shucker and John K. Bennett.Scalable Control of Distributed Robotic MacrosensoRs[J].Department of Computer Science,University of Colorado at Boulder.2005 [6] Brian Shuckerand John K. Bennett.Target Tracking with Distributed Robotic Macrosensors[J].Department of Computer Science, 430 UCB,University of Colorado, 2005.11 [7] Brian Shucker and John K. Bennett.Virtual Spring Mesh Algorithms for Control of Distributed Robotic Macrosensors[J].Department of Computer Science,University of Colorado at Boulder,Technical Report CU-CS-996-05, 2005.5 [8] Brian Shucker, Todd Murphey, and John K. Bennett,An Approach to Switching Control Beyond Nearest Neighbor Rules[J].College of Engineering, 430 UCB,University of Colorado,Boulder, Colorado 80309, 2006.6 [9] Brian Shucker, Todd Murphey, and John K. Bennett.A Method Of Cooperative Control Using Occasional Non-Local Interactions[J].College of Engineering, 430 UCB,University of Colorado,Boulder, Colorado 80309, 2006.5 [10] 丘恩著，宋吉广译，Python 核心编程(第1版)[M].北京:人民邮电出版社，2008.7.1 [11] 莱德 夏海伦，Python 高级编程[M].北京:人民邮电出版社，2010.1 their own conditions to develop the correct road, the maximum to avoid investment risk, gain profit.(three) vigorously promote the brand. To establish brand awareness, awareness of the use of brand, brand value, brand acquisition performance, enhance the competitive strength. Concentrated manpower, careful planning, packaging and publicity of a number of unique, market influence and coverage of the brand, the implementation of key breakthroughs, to enhance the competitive strength, walking business road the competition of alienation and characteristics, the pursuit of stability and development of the market.(four) to promote the integration of resources. To further broaden their horizons, effective integration of resources within the group, the city resources, other industries and regional resources, mutual trust, mutual benefit, seeking win-win principle, in the framework of national policies and regulations, strict inspection and argumentation, legal consultation, examination and approval procedures, strict regulation of economic activities, attract injection the social investment to the industry group, to achieve leveraging the development, ensure that the value of state-owned assets.(five) to strengthen the construction management personnel. Strengthen the management of education and training of cadres and workers of the existing business, firmly establish the concept of the market, enhance the sense of crisis to adapt to market competition, the sense of urgency, improve the ability to respond to market competition, improve management and operation of the market. At the same time, according to the need of industrial development, vigorously the introduction of high-quality management management personnel, and strive to build a high-quality professional management team, hard work, and promote the entire workforce knowledge structure, age structure, structure optimization and upgrading ability, enhance core competitiveness, adapt to the need of market competition.(six) seriously study the policy for policy. Serious research about social support the development of cultural undertakings in the country and the XX policy, especially the policy of industrial development, financial investment policy, financial policy and tax policy, and actively seek policy, projects and funds, enterprise and industry group mission to promote leapfrog development. 致 谢 时光总是不经意从指缝溜过，本科四年悄然远走。站在毕业的临界点，回首充满戏剧性的大学生涯，奋斗和汗水酿成甜美的回忆，收获与喜悦也都落定成尘。果真是“书到用时方恨少，事非经过不知难”在这篇论文的写作过程中，我深感自己的知识匮乏，水平有限。有幸能得到各位老师的辛勤教诲与所有同学、朋友的热情帮助，得以完成论文的写作。 经过几个月的忙碌，本次毕业设计已经接近尾声，作为一个本科生，由于对弹簧原理与分布式控制算法相关理论知识的匮乏，难免有许多考虑不周全的地方，如果没有导师的督促指导，想要完成这个论文将异常艰难。 本文是李翔老师派遣的题目，前期李翔老师指导，后期转为张丹老师指导。他们和蔼可亲，淳淳善诱。李翔老师渊博的知识、严谨的治学作风，张丹老师精益求精的态度，平易的性格，给我留下了深刻的印象。他们尽管事务繁忙，但从查阅资料，设计草案的确定和修改，中期检查，后期详细设计，定稿等整个过程中都给予了我悉心的指导。我的论文较为复杂烦琐，感谢两位老师在百忙之中抽出时间细心地帮我纠正论文中的错误，此次论文能够顺利完成，离不开老师耐心的指导和无私的帮助。李老师和张老师的为人和治学的精神将使我受益匪浅，在此谨以此文再次表示我诚挚的感谢和祝福。 同时还要感谢大学四年来所有的老师，特别是班主任梁老师，为我打下专业和数学知识的基础，以及深切的关怀; 感谢父母及亲友提供的情感和资金支持; 感谢所有的同学的鼓励和默默付出; 感谢在论文各阶段给以精神帮助和各种形式物质帮助的朋友们; 最后感谢我的母校—湖南科技学院四年来对我的大力栽培。 ,,