异构多移动机器人分布式优化部署控制研究

Optimal deployment of multiple mobile robots is to investigate how to deploy a group of mobile robots with sensing, communication, and computation capabilities such that a region of interest is optimally sensed or monitored by the robots. In practice, the region of interest is often located in dangerous and harsh environments. To accomplish the sensing and monitoring tasks without any casualties, multiple mobile robot systems are often used instead of humans. Under ideal assumptions, the existing studies focus on deploying homogeneous robots with identical moving capabilities to minimize the robots' detection time of a given region. In this project, the detection time model of heterogeneous robots located on a closed curve is firstly given. From the model, a necessary and sufficient condition for the minimization of the robots' detection time of the curve can be derived. Distributed control laws are then developed to drive multiple mobile robots to the locations such that the necessary and sufficient condition is satisfied. Moreover, distributed control schemes are also proposed for heterogeneous mobile robot systems with various constraints, including complex deployment environments, limited energy storage, and limited communication range. The outcome of this project is expected to improve and enrich the control theory of multi-robot deployment, and provide new ideas and theoretical support for mobile robot systems' practical applications such as environmental boundary monitoring.

多移动机器人优化部署控制主要研究如何部署多个具有感知、通信和计算能力的移动机器人实现对目标区域的最优感知或监测。由于目标区域经常处于危险与恶劣的环境中，采用多机器人系统代替人类执行感知和监测任务可以避免人员伤亡，确保指定任务顺利进行。现有的基于探测时间的多机器人优化部署控制研究主要针对理想条件下具有相同移动能力的同构多机器人系统展开。本项目针对封闭曲线上的异构多机器人系统，首先建立理想部署环境下移动机器人探测时间的数学模型。基于该模型，给出异构多机器人系统对封闭曲线探测时间最小化的充分必要条件。然后，设计分布式部署控制器使得多机器人系统收敛到满足该充要条件的部署位置。在此基础上，进一步研究在复杂部署环境、能量有限以及通信范围受限等现实条件下异构多机器人系统的分布式优化部署控制。预期研究结果将丰富和完善多机器人部署控制理论，为多移动机器人系统在边界监测等领域的实际应用提供新的思路和理论支持。

多机器人优化部署控制是多机器人协同控制领域一个新兴的研究方向，主要研究如何设计移动机器人的分布式部署控制器使得多机器人系统实现对目标区域的最优覆盖。现有的基于探测时间的多机器人优化部署控制研究主要针对理想条件下具有相同移动能力的同构多机器人系统展开。本项目针对给定圆环上的异构多机器人系统，首先建立移动机器人对圆环上任意一点探测时间的数学模型。基于该模型，给出异构多机器人系统对整个圆环探测时间最小化的充分必要条件。然后，设计分布式部署控制器使得具有输入饱和约束的一阶多机器人系统收敛到满足该充要条件的最优部署位置。在此基础上，进一步研究在通信范围受限、测量位置不精确、单向移动限制等现实条件下异构多机器人系统的分布式优化部署控制。相关研究结果将为多移动机器人系统在入侵者监测等领域的实际应用提供了新的思路和技术支持。