要約

Some control problems of team motion of mobile robots having a certain mass and moment of inertia, and equipped with devices for determining their position in the given two-dimensional coordinate system. It is shown that the presence of uncontrollable disturbances, acting on the robots, generally does make it possible to control robots using only programmed control and the "master-slave" strategy. Using decomposition of the general problem of team motion control, it is offered the two-level hierarchical control system that combines the programmed and positional (with a feedback) control. Such control algorithms with a feedback are described, which allow one to use a wide range of typical movements of the robots team, also under phase constraints.