摘要
针对快速收敛的机器人部队任意队形控制算法中存在的问题 ,提出一种改进的多机器人系统模型和控制算法 .新方案中详细讨论了基于全局通信的机器人集合划分方式 ,机器人可以以多种策略选择跟踪对象 ,并且新的系统模型和控制算法能够用于具有不同高度的机器人、目标和障碍物的情形 .理论分析表明新方案尽可能多地减少智能体机器人之间的冲突及等待时间 ,更接近实际应用 .
An improved system model and control algorithm is proposed for the problem existing in the quick converging distributed algorithm for generating arbitrary shape of multiple robots. Robot set partition method based on global communication are discussed in detail, and eath robot selects its following object via some rules. The new model and algorithm can be applied to other cases in which each robot has its own height, target and obstacle. The oretical analysis shows that the improved model an reduce collision among the robots and is a more practical.
出处
《机器人》
EI
CSCD
北大核心
2003年第6期521-525,共5页
Robot
基金
重庆市科委基金资助 (6970 )
关键词
多机器人系统
队形
系统模型
划分
multiple robots system
formation
system model
partition
