【摘要】：隨著科技的發(fā)展,多智能體系統(tǒng)在無人機巡航、分布式計算、無人駕駛等領(lǐng)域運用得越來越廣泛,多智能體控制算法的研究成為當今控制理論與控制工程專業(yè)的熱點課題。本論文旨在設(shè)計一套低成本、簡單可靠的多機器人物理仿真平臺,供高校實驗室用于多智能體控制算法的仿真與實驗。首先,本文充分利用雙輪自平衡小車的靈活性和輕便性,選用雙輪平衡小車作為智能體機器人。論文采用拉格朗日方法建立小車的動力學(xué)模型,設(shè)計了線性二次型最優(yōu)控制器,并在Matlab環(huán)境中得到了仿真結(jié)果。得到合適的控制參數(shù)后,成功將控制器移植到了基于STM32單片機的控制電路板中。其次,本文設(shè)計了一種基于顏色特征識別的多智能體定位系統(tǒng)。選用MV-EM120C小型Gige千兆網(wǎng)工業(yè)相機做圖像采集,并結(jié)合計算機視覺算法庫OpenCV成功實現(xiàn)了多智能體機器人的定位,并滿足一定的可靠性和精度要求。最后,論文介紹了將多智能體算法移植到我們的小車平臺上的方法,并且得到了小車的編隊控制結(jié)果。實驗表明,我們的多智能體小車平臺能夠滿足實驗室條件下在實時性和可靠性方面的要求。
[Abstract]:With the development of science and technology, multi-agent system has been widely used in UAV cruise, distributed computing, unmanned driving and so on. The research of multi-agent control algorithm has become a hot topic in the field of control theory and control engineering. The purpose of this paper is to design a low-cost, simple and reliable multi-robot physical simulation platform, which can be used in the simulation and experiment of multi-agent control algorithm in university laboratory. Firstly, this paper makes full use of the flexibility and portability of the two-wheel self-balancing vehicle, and chooses the two-wheel-balanced vehicle as the agent robot. In this paper, the Lagrangian method is used to establish the vehicle dynamics model, and the linear quadratic optimal controller is designed, and the simulation results are obtained in Matlab environment. After getting the appropriate control parameters, the controller is transplanted to the control circuit board based on STM32 microcontroller successfully. Secondly, a multi-agent localization system based on color feature recognition is designed. The MV-EM120C small Gige gigabit network industrial camera is used for image acquisition and the localization of multi-agent robot is successfully realized with the combination of computer vision algorithm library OpenCV and meets the requirements of reliability and precision. Finally, the method of transplanting the multi-agent algorithm to our vehicle platform is introduced, and the formation control results of the vehicle are obtained. Experiments show that our multi-agent vehicle platform can meet the requirements of real-time and reliability under laboratory conditions.
【學(xué)位授予單位】：大連理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：TP242

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