In order to solve the problems of complex algorithm of traditional leader-follower method in formation control of multi-robot system and difficulty in completing circular formation of multi-robot system with common formation control law, the formation problem of multi-robot system was transformed into tracking control problem among robots by improving the traditional leader-follower method, and a velocity compensation algorithm based on position information for multi-robot formation was proposed in this study. The formation control model of robot with velocity compensation algorithm is established, and the formation control law was designed based on the pose error between the following robot and the virtual robot, and it is proved theoretically that the proposed control law could complete the multi-robot formation task. Then, on the basis of studying the multi-robot formation problem, the obstacle avoidance problem in the multi-robot formation process is further studied. The classical artificial potential field method was introduced, and the artificial potential field method was combined with the speed compensation algorithm of this study. The combined algorithm could enable the multi-robot system to maintain formation operation, and not only preventing the robots in the system from colliding with each other, but also adaptively avoiding obstacles in the surrounding environment. The results showed that multi-robots could not only complete the formation task efficiently but also successfully complete the obstacle avoidance task when encountering obstacles. Finally, the proposed algorithm was verified by experiments on multi-robot simulation and physical platform. The algorithm could reduce the number of calling parameters, simplified the formation algorithm, and improve the formation efficiency.

本文以线状石墨相氮化碳(Lg-CN)为原料,在无需强酸加入的情况下,利用简单的纯水中的水热反应成功制得了氮化碳量子点(CN QDs),并利用傅里叶变换红外光谱、X射线粉末衍射、透射电镜、X射线光电子能谱等对所得量子点的形貌和结构进行了表征,进而解释了量子点的形成机理;利用紫外-可见吸收光谱和荧光光谱对其光学性质进行了研究.结果 发现,所制备的CN QDs具有良好的光学性能,其荧光光谱不仅与激发波长有关,荧光发射位置和强度还受溶液pH的影响,在pH为7时,荧光强度最大.此外,Fe"对CN QDs的荧光具有良好的猝灭效果,可用于Fe3+的选择性测定.该工作为CN QDs的制备提供了一种新的方法,既可避免繁琐的操作,也可避免强酸等的使用带来的危害.

教育部"六卓越一拔尖"计划2.0卓越工程师主要是根据国家战略和区域发展需求树立工程教育新理念,深化高校工程教育改革,加快建设发展新工科.本文分析了郑州大学自动化专业卓越工程师培养以人工智能与机器人为特色方向,在培养目标与毕业要求、课程特色、实践与创新、培养模式四个方面改革探索进行分析,为自动化相关专业的卓越工程师的培养提供一定的借鉴意义.