摘要
针对目前多机器人通信仿真系统较少的问题,进行了多机器人通信仿真系统的设计研究.提出的多移动机器人通信仿真系统设计方案,侧重于反映通信网络的拓扑变化情况,以及多个机器人之间是如何进行通信的.仿真系统预留了机器人控制算法的接口,便于结合机器人避碰、任务分配、连通覆盖等进行综合研究.多机器人覆盖研究是目前多移动机器人和无线传感器网络中的一个研究热点,针对这个问题,采用了虚拟力分配策略,使得多机器人在保持连通性的同时尽可能大地覆盖某一区域,最后以六边形覆盖为约束条件进行了区域覆盖,并实现了该仿真系统的原型.实验表明,该仿真系统能准确地模拟多机器人在保持相互通信的情况下,达到最大化的区域覆盖.证实了基于虚拟力覆盖策略的有效性.
An architecture for simulating a communication system for multi-robots was developed and tested. The proposed system primarily reflects changes in the communication modes of robots and the topology of their communication network. A modularized design technology was adopted. Some interfaces were reserved in advance for research in areas such as robot avoidance, task distribution and coverage connectivity, and so on. At present, multirobots coverage is a research hotspot in the field of multiple mobile robots and wireless sensor networks. We developed a special strategy to allocate robots using virtual forces among them; the robots would then cover the monitored area as much as possible. It has been proven that a regular hexagon provides maximum coverage with least waste; this was the basis of our approach. Experiments showed that this distributed algorithm moved robots to extend their coverage by the virtual force among robots while maintaining network connectivity. This proves the effectiveness of the virtual force coverage strategy.
出处
《智能系统学报》
2009年第4期309-313,共5页
CAAI Transactions on Intelligent Systems
基金
国家自然科学基金资助项目(90820302
60805027)
国家博士点基金资助项目(200805330005)
湖南省院士基金资助项目(2009FJ4030)
质检公益行业科研专项项目(20081002)
关键词
多机器人系统
仿真系统
通信网络
连通覆盖
虚拟力
multi-robots system
simulation system
communication network
coverage connectivity
virtual force
