多自主移动机器人编队移动的导航策略

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.1989.637948

P. K. Wang

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引用次数: 449

摘要

研究了编队自主移动机器人的导航策略求解问题。在这里，每个机器人由一个具有球形有效空间域和指定可见锥的粒子表示。每个机器人在世界空间中的全局运动由机器人质心的运动方程来描述。首先，讨论了地层生成的方法。在此基础上，推导了机器人编队移动的简单导航策略。给出了采用基于最近邻跟踪的导航策略的机器人编队稳定的充分条件。采用计算机仿真的方法，研究了由3个或3个以上机器人组成的机器人编队在同一平面上的动态行为。

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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Navigation Strategies For Multiple Autonomous Mobile Robots Moving In Formation

The problem of deriving navigation strategies for a fleet of autonomous mobile robots moving in formation is considered. Here, each robot is represented by a particle with a spherical effective spatial domain and a specified cone of visibility. The global motion of each robot in the world space is described by the equations of motion of the robot's center of mass. First, methods for formation generation are discussed. Then, simple navigation strategies for robots moving in formation are derived. A sufficient condition for the stability of a desired formation pattern for a fleet of robots each equipped with the navigation strategy based on nearest neighbor tracking is developed. The dynamic behavior of robot fleets consisting of three or more robots moving in formation in a plane is studied by means of computer simulation.

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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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