具有可切换队形的非通信多机器人系统

2013 9th Asian Control Conference (ASCC) Pub Date : 2013-06-23 DOI:10.1109/ASCC.2013.6606335

A. Cezayirli, F. Kerestecioğlu

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引用次数: 1

摘要

研究了具有群体过渡的自主移动机器人的连接导航问题。机器人使用简单的局部转向规则进行导航，而不需要它们之间进行明确的通信。通过设计合适的成本函数来实现储层的形成，并通过这些成本函数之间的转换来实现储层的过渡。所得到的系统在一定条件下证明是无死锁的。

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 non-communicating multi-robot system with switchable formations

We consider connected navigation of autonomous mobile robots with transitions in the group formation. The robots navigate using simple local steering rules without requiring explicit communication among themselves. The formations are achieved by designing proper cost functions and formation transitions are succeeded by switching among these cost functions. The resulting system is proven to be deadlock-free under certain conditions.

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2013 9th Asian Control Conference (ASCC)

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