Abstract：A flexible control structure based on constrained control is proposed to solve the problem of multi-robots formation architecture designing in the assumed mission of automatic minefield clearing. It utilizes the advantages of redundancy and impact resistance to enhance the adaptation to environmental perturbations. It utilizes filtering localization algorithm based on prediction, feedback and correction to generate the prestress of formation structure and enhance the system carrying capacity compatible with the appropriate formation shape. The multi-role allocation and collaboration model is used to improve the system performance. The experimental results show that the flexible structure of the multi-robots system adapts to environmental changes well. The system has good flexibility and survivability capabilities. Its robustness is improved and the control method based on flexible structure has good practical value.
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2012, Vol. 25 
