虚拟管的流动程度

IF 5.2 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Robotics and Autonomous Systems Pub Date : 2025-06-18 DOI:10.1016/j.robot.2025.105108

Quan Quan, Shuhan Huang, Kai-Yuan Cai

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引用次数: 0

摘要

随着机器人群体技术的快速发展，越来越多的任务要求群体安全高效地通过复杂的环境。虚拟管技术是实现这一目标的一种新途径。虚拟管道是连接两个地方的自由空间，为群体机器人提供安全边界和运动方向。如何确定虚拟管的设计质量是一个基本问题。为此，本文根据最小能量原理提出了二维虚拟管的流动度（DOF）。在此基础上，提出了自由度的计算方法，并进行了可行性分析。对不同类型的二维虚拟管道中的群机器人进行了仿真，验证了该方法的有效性。

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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A degree of flowability for virtual tubes

With the rapid development of robotic swarm technology, there are more tasks that require the swarm to pass through complicated environments safely and efficiently. Virtual tube technology is a novel way to achieve this goal. A virtual tube is a free space that connects two places, providing safety boundaries and direction of motion for swarm robotics. How to determine the design quality of a virtual tube is a fundamental problem. For such a purpose, this paper presents a degree of flowability (DOF) for two-dimensional virtual tubes according to a minimum energy principle. After that, the method of calculating DOF is proposed with a feasibility analysis. Simulations of swarm robotics in different kinds of two-dimensional virtual tubes are performed to demonstrate the effectiveness of the proposed method of calculating DOF.

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来源期刊

Robotics and Autonomous Systems 工程技术-机器人学

CiteScore

9.00

自引率

7.00%

发文量

164

审稿时长

4.5 months

期刊介绍： Robotics and Autonomous Systems will carry articles describing fundamental developments in the field of robotics, with special emphasis on autonomous systems. An important goal of this journal is to extend the state of the art in both symbolic and sensory based robot control and learning in the context of autonomous systems. Robotics and Autonomous Systems will carry articles on the theoretical, computational and experimental aspects of autonomous systems, or modules of such systems.