对多障碍物环境下微机器人集群运动的控制问题进行了研究。结合微机器人尺寸小的特点, 采用低功耗的红外传感器感知外界环境。设定机器人的安全区域, 根据机器人运动过程中避障和路径规划所要满足的边界条件, 提出了基于人工蜂群问题优化的路径规划控制模型, 实现了微机器人的避障和路径规划。仿真结果验证了该控制方法的有效性。

The control problem of multi-robots system in obstacles environment was researched. The low-power infrared sensors were used to perceive surroundings according to the characteristic of small size of micro-robot, and the values of sensors were employed to transform to the obstacles positions. The safety disk of each robot was set and an obstacle avoidance path planning algorithm was proposed to realize motion control of the robots without collision based on artificial bee colony algorithm. The effectiveness of this control method is verified by simulation results.