Experimental comparison of a directed and a non-directed potential field approach to formation navigation

2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI:10.1109/CIRA.2005.1554249

Frank E. Schneider, D. Wildermuth

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引用次数: 10

Abstract

The field of multirobot systems (MRS) is continuously drawing more attention. The DARPA SDR program and the RoboSoccer/RobotRescue contests have shown the great potential of this field. One of the increasingly popular uses of the field of MRS is in communication and sensor-networks. These applications require a task depended navigation. The MRS sub-problem of formation navigation is predestined for this purpose. This paper presents an improvement of the classical potential field approach for motion co-ordination in formations of MRS. The approach is briefly compared to related work. For the subtask of moving in formation, a solution based on a directed potential field is presented. Different forces belonging to other robots, obstacles and the aspired shape of formation are combined and used to move each robot to its desired position inside the formation. While moving in formation, the group is able to avoid obstacles and approach towards a specified target. First experiments that show the differences and improvements in comparison to the classical method are presented.

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定向和非定向势场方法在地层导航中的实验比较

多机器人系统(MRS)领域不断受到人们的关注。DARPA特别提款权项目和机器人足球/机器人救援比赛显示了这一领域的巨大潜力。MRS领域日益流行的用途之一是在通信和传感器网络中。这些应用程序需要与任务相关的导航。地层导航的MRS子问题就是为此而设计的。本文提出了对经典势场方法的改进，并与相关工作进行了简要比较。对于编队移动子任务，提出了一种基于有向势场的求解方法。属于其他机器人、障碍物和期望的队形的不同力量被结合起来，并用于将每个机器人移动到队内的期望位置。在编队移动时，团队能够避开障碍物并接近指定目标。第一个实验显示了与经典方法相比的差异和改进。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2005 International Symposium on Computational Intelligence in Robotics and Automation

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