摘要
多移动机器人队形问题是多机器人系统富有挑战性的研究方向之一。为了在动态、复杂的环境中实现队形的完全保持 ,设计了四种行为 :奔向目标行为、保持队形行为、切线避碰行为和随机扰动行为 ,同时采用“leader更换”方法实现了机器人间的协调运动规划。仿真实验表明了所提行为策略可以有效的解决机器人运动过程中可能发生的冲突和死锁 ,确保了任务的顺利完成。
Formation control for multiple mobile robots is one of challenging research directions of multi-robot system. In order to achieve the complete keeping of formation in a dynamic and complex environment, four behaviors called movetogoal, keepformation, tangentavoidstaticobstacle and noise behaviors are designed and leader changing approach is used to implement the coordinated motion planning among robots in this paper. The simulation shows that behavior strategies proposed can effectively deal with collisions and deadlocks and ensure the smooth accomplishment of the mission.
出处
《高技术通讯》
EI
CAS
CSCD
2001年第10期74-77,共4页
Chinese High Technology Letters
基金
国家自然科学基金 ( 69975 0 2 2 )
863智能机器人主题 ( 9935 0 2 )资助项目
