摘要
机器人队伍的运动被划分为正常运动、避障及恢复队形三个阶段,单个机器人的运动划分为避障和向目标运动两个状态.在避障阶段,引入虚拟机器人来使其它机器人保持队形,同时把所有机器人划分成不同等级的集合,避障机器人跟踪邻近高等级集合中的机器人以躲避障碍.仿真实验表明,该方法能有效地避开障碍,并快速恢复原队形.
The movement course of robot team is divided into normal movement phase, obstacle avoidance phase and formation recovery phase. As for single robot , it includes avoiding obstacle state and running to target state. Virtual robot is introduced into obstacle avoidance phase for purpose of making other robots to maintain formation, at the same time , the whole robot is divided into aggregations with different priority, the robot which in avoiding obstacle state follows the nearby robot in the higher priority aggregation. The simulation results show that robot avoiding obstacles are available and formation is kept well by the algorithm.
出处
《沈阳理工大学学报》
CAS
2007年第4期35-37,58,共4页
Journal of Shenyang Ligong University
关键词
多机器人系统
保持队形
划分
避障
multi-robot system
keeping formation
partition
avoiding obstacle
