基于虚拟阻抗的多机器人避碰

Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications Pub Date : 1989-09-04 DOI:10.1109/IROS.1989.637947

T. Arai, H. Ogata, Takayasu Suzuki

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引用次数: 89

摘要

路径规划。较高的层生成从当前位置到目标的轨迹。下层控制伺服驱动器沿着生成的轨迹行驶，同时识别障碍物。这一层由三个模块组成，分别是“看门狗”、“导航器”。和“僵局解决者”。局部平衡由看门狗检测，并由死锁求解器取消。讨论了成员之间的关系

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Collision Avoidance Among Multiple Robots Using Virtual Impedance

path planning. The higher layei generates a trajectory from the current position to the goal. 'The lower layer controls the servo driver to follow the generated trajectory while avriidinp, obstaclcs. This laycr is composcd of thrce modules called "watchdog", 'navigator*. and "deadlock solver". The local equilibrium is detected by the watchdog and canceled by the deadlock solver. The relationship among the members is discussed to

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来源期刊

Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications

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