摘要：在群体智能领域中，多机器人协作系统是一个重点的研究课题。由于人们对现代社会生产、服务各方面的要求不断提高，这对多机器人所需要的技术要求也越来越高，多机器人也逐渐成为了机器人技术研究领域的学者和科研工作人员研究的焦点。多机器人协作作为现代机器人研究方向中关键的研究方向之一，它的应用包括航空方面、大面积的搜索营救、军事上的侦察、以及无人机的控制等。本课题是团队课题中的算法部分，在查阅了大量文献资料分析之后，本论文深刻地分析了国内外研究者对多机器人研究以及机器人的路径规划方面所作出的贡献，然后进一步研究了对多机器人聚集控制方面的问题，总结了多机器人协作系统研究内容以及研究现状，在多机器人协作中的路径规划是多机器人能够按既定的要求完成任务的保障。接下来进一步研究了多机器人协作的路径规划，从介绍多种路径规划的方法，再到多机器人路径规划系统的研究。本文以质心算法的智能理论为基础，比较深地探讨了多机器人协作系统的基本原理。以聚集控制为理论基础编写设计了多机器人系统仿真演示控制程序。在MATLAB仿真平台下进行了多机器聚集控制仿真实验，仿真结果证明了多机器人能够有效聚集，最后再将多机器人聚集控制算法完整地移植到了多机器人上，实现了多机器人聚集效果，验证了质心算法的有效性。

关键词： 多机器人；路径规划；质心算法；聚集控制

ARM-based multi-robot collaboration and swarm intelligence（algorithm section）

Abstract: An important topic in the field of community intelligence research is the multi-robot cooperative system.As people’s requirements for modern society’s production and service are constantly increasing, the technical requirements for multi-robot are also getting higher and higher. Multi-robot have gradually become the focus of scholars and scientific research personnel in the field of robot technology research. Multi-robot collaboration is one of the key research directions in the research of modern robots. Its applications include aviation, large-area search and rescue, military reconnaissance, and drone control. This topic is an algorithm part of the team project. After consulting a large amount of literature and data analysis, this paper profoundly analyzes the contribution made by domestic and foreign researchers to multi-robot research and path planning of robots, and then further researches the The problems of robot gather control summarize the research content and research status of multi-robot cooperative systems. The path planning in multi-robot collaboration is the guarantee that multi-robot can complete tasks according to established requirements. Next, we further studied the path planning of multi-robot collaboration, from the introduction of a variety of path planning methods to multi-robot path planning systems. Based on the intelligence theory of centroid algorithm, this paper deeply discusses the basic principles of multi-robot cooperative system.Based on the gather control theory, a multi-robot system simulation demonstration control program based on the ARM platform is programmed. In the MATLAB simulation platform, a multi-robot gather control simulation experiment was conducted. The simulation results proved that multi-robot can be effectively gathered. Finally, the multi-robot gather control algorithm was completely transplanted to multi-robot. The robot clustering effect validates the effectiveness of the centroid algorithm.

Keywords: Multi-robot；Path planning；Centroid algorithm；Gather control

目录

摘要 ii

Abstract iii

目录 iv

1 绪论 1

1.1 研究的背景和意义 1

1.2 课题究国内外研究概况 2

1.3 研究内容结构以及框架 2

1.3.1 研究的主要内容 2