分散机器人构建编队的目标分配策略

Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02. Pub Date : 2002-11-09 DOI:10.1109/ROMOCO.2002.1177105

W. Kowalczyk

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引用次数: 15

摘要

针对分散在环境中的多机器人，提出了一种目标分配策略，并期望它们构建有序队形。该方法具有通用性，可与多种轨迹规划方法结合使用。本文提出的方法对轨迹生成有一定的约束条件，但在大多数情况下，这些约束条件很容易满足。给出了hilare型完整机器人的仿真结果。讨论了一组非完整移动机器人的应用可能性。

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Target assignment strategy for scattered robots building formation

Presents a target assignment strategy for multiple robots that are scattered in the environment and they are expected to build an ordered formation. The described approach is general and can be used together with a variety of trajectory planning methods. The presented approach produces some constraints for trajectories generation, however, in most cases the constraints can be easily satisfied. Simulation results for Hilare-type holonomic robots are presented. The possibility of use for a group of nonholonomic mobile robots is also discussed.

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Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.

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