Cooperative Grasping Control by Using Swarm Vehicles with Time-Varying Information Structure

研究了分布式车辆群的协同抓取问题。首先，我们构建了多个移动机器人控制系统，并推导了系统的数学模型。在此基础上，推导了与时变信息结构相对应的封闭控制方法，并通过控制仿真和实验进行了验证。最后提出了移动机器人间时变信息结构的抓取控制方法。证明了闭环系统的渐近收敛性，实现了协同抓取。仿真实验表明了所提出的协同控制的有效性。

This research dealt with cooperative grasping by distributed vehicle swarms. First, we constructed multiple mobile robot control systems, and derived a mathematical model for the system. Then the enclosure control methodology corresponding to the time-varying information structure was derived and the verification by control simulations and experiments was performed. Finally the grasping control for time-varying information structure between mobile robots was proposed. We proved the asymptotical convergence of the closed-loop systems and cooperative grasping was achieved. Several simulations/experiments showed the effectiveness of the proposed cooperative control.