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中文摘要：
设计了一种未知环境下基于意图推理的多机器人编队控制方法。该方法在机器人自身移动局部坐标系中通过观察其领航机器人，采用限定记忆最小二乘多步递推策略对领航机器人的运动趋势进行预测，估计出领航机器人的运动信息及机器人之间的相关信息，结合已有的编队控制律以及切线避障策略使机器人安全躲避潜在危险的同时实现多机器人之间的协调。该方法扩展性较好，仿真验证了其可行性。
英文摘要：
An approach for multi-robot formation control in unknown environments based on intention reasoning was designed. The approach adopts a finite memory least square multi-step recursive strategy to predict the motion of the leading robot and estimate the relevant information based on the local coordinate system of the following robot. The coordination among the robots is achieved with the existing formation control law and the tangent obstacle avoidance strategy. The designed approach has a good expansibility and the simulation results verified its feasibility.
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同项目期刊论文
Adaptive neural network tracking control for manipulators with uncertain kinematics, dynamics and ac
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