摘要
研究了机器人编队及队形变换的二叉树方法,创建二叉树的基队形,由基队形变换得到如菱形、楔形、横线、纵线等队形。采用二叉树方法创建的基队形具有实现时间短、速度快、良好的稳定性和鲁棒性等特点,仿真时间约为0.058 658 s。由基队形变换得到的适用队形也具有相同的性质。
The formation and the transformation method of binary tree is researched.Firstly,a basic formation is created by binary tree method,which is transformed to other formations,such as diamond,wedge,horizontal line,and longitudinal line formation.The creation of the basic formation by proposed binary tree method possesses the characteristics of short time and fast speed for realizations,good stability and robustness.The simulation time is about 0.058 658 seconds.The same characteristics also fit for other formations.
出处
《辽宁科技大学学报》
CAS
2010年第5期456-459,共4页
Journal of University of Science and Technology Liaoning
关键词
机器人
队形控制
二叉树方法
队形变换
robot
formation control
binary tree method
formation transformation
