共查询到19条相似文献,搜索用时 140 毫秒
1.
2.
多移动机器人通信系统研究进展 总被引:7,自引:0,他引:7
鉴于通信是多机器人在联合工作时进行交互的主要途径,对国内外近年来多移动机器人通信系统的研究工作进行了总结.重点介绍了多移动机器人通信系统目前的研究现状和主要研究内容,包括通信方式、通信语言、通信拓扑、通信协议以及其他结合通信的多移动机器人协作研究.最后指出了多移动机器人通信系统未来的研究方向. 相似文献
3.
由于无线环境与有线环境相比,具有误码率高、时延大、带宽低、信道不对称以及频繁的移动等特性,使无线网络中的通信质量难于保证.该文针对这一问题,提出了一种新的无线网络显式误码丢包指示机制,并对其进行了分析讨论.此机制实现简单,所增加的系统额外开销小,能有效地改善无线网络中的通信性能,具有明显的现实意义. 相似文献
4.
一种新的无线网络显式误码丢包指示机制及其分析讨论 总被引:2,自引:0,他引:2
无线应用的飞跃发展和广阔的应用前景,使得人们不得不把更多的目光投向无线网络的通信。由于无线环境与有线环境相比,具有误码率高、时延大、带宽低、信道不对称以及频繁的移动等特性,使无线网络中的通信质量难于保证。针对这一问题,提出了一种新的无线网络显式误码丢包指示机制,并对其进行了分析讨论。此机制实现简单,所增加的系统额外开销小,能有效地改善无线网络中的通信性能,具有明显的现实意义。 相似文献
5.
6.
针对港口轮胎吊通信系统的现实通信环境和项目需求,提出了一种建立在UDP之上,进行16位CRC差错控制,基于显式速率的拥塞控制和确认机制,能够自动监测网络故障,自动恢复通信状态的高效可靠的数据通信协议。 相似文献
7.
针对目前多机器人通信仿真系统较少的问题,进行了多机器人通信仿真系统的设计研究.提出的多移动机器人通信仿真系统设计方案,侧重于反映通信网络的拓扑变化情况,以及多个机器人之间是如何进行通信的.仿真系统预留了机器人控制算法的接口,便于结合机器人避碰、任务分配、连通覆盖等进行综合研究.多机器人覆盖研究是目前多移动机器人和无线传感器网络中的一个研究热点,针对这个问题,采用了虚拟力分配策略,使得多机器人在保持连通性的同时尽可能大地覆盖某一区域,最后以六边形覆盖为约束条件进行了区域覆盖,并实现了该仿真系统的原型.实验表明,该仿真系统能准确地模拟多机器人在保持相互通信的情况下,达到最大化的区域覆盖.证实了基于虚拟力覆盖策略的有效性. 相似文献
8.
煤矿智能化建设要求采用井下精确定位技术,实现井下人、车等目标的精确定位、人员状态分析、考勤、调度管理,满足井下复杂巷道的全覆盖需求。井下定位按定位机制可分为惯导定位和通信式定位,指出对矿井中数量众多的被定位目标进行定位,可行的技术是通信式定位技术,目前井下使用的通信式定位技术按定位精度从低到高依次是RFID、ZigBee和UWB技术。分析了井下精确定位原理,并结合在矿井人员定位系统、车辆及交通管理系统、井下物流管理系统、井下接近监测、远程/无人车辆驾驶/掘进/综采系统中的具体应用,指出各应用对井下精确定位系统的技术要求。 相似文献
9.
10.
多机器人系统的通信状况能够直接影响协作同时定位与地图创建(Cooperative simultaneous localization and mapping, CSLAM)算法的设计和实现.根据对多机器人通信状况所作出假设的侧重点不同, 对多机器人CSLAM算法研究现状和进展进行综述.首先,简要介绍了基于完全连通通信条件的集中式CSLAM算法的特点和缺陷; 其次,结合多机器人系统初始相对位姿关系未知的情况,从地图配准、数据关联和地图融合等三个方面, 对基于通信范围或者带宽受限条件的分布式CSLAM算法的地图合并问题进行了分析和阐述; 进而重点对考虑稀疏动态通信状况的分布式CSLAM算法的最新研究成果进行了归纳总结. 最后指出多机器人CSLAM研究领域今后的研究方向. 相似文献
11.
12.
首先,介绍了生物社会中的群体智能.接着,讨论了群体机器人技术中的群体控制、群体通信和群体形态等主要研究内容及其发展趋势,并介绍了群体机器人系统的几个典型任务环境.最后,通过一个物体搜集任务的仿真实例来说明群体智能设计原则在多机器人系统中的应用. 相似文献
13.
考虑机器人间的通信受限约束,将机器人抽象为微粒,提出基于微粒群优化的多机器人气味寻源方法.首先,采用结合斥力函数的策略,引导机器人快速搜索烟羽;然后,基于无线信号对数距离损耗模型,估计机器人间的通讯范围,据此形成微粒群的动态拓扑结构,并确定微粒的全局极值;最后,将传感器的采样/恢复时间融入微粒更新公式,以跟踪烟羽.将所提出方法应用于3个不同场景的气味寻源,实验结果验证了该方法的有效性. 相似文献
14.
《Advanced Robotics》2013,27(1-2):93-117
Emergencies in industrial warehouses are a major concern for fire-fighters. The large dimensions, together with the development of dense smoke that drastically reduces visibility, represent major challenges. The GUARDIANS robot swarm is designed to assist fire-fighters in searching a large warehouse. In this paper we discuss the technology developed for a swarm of robots assisting fire-fighters. We explain the swarming algorithms that provide the functionality by which the robots react to and follow humans while no communication is required. Next we discuss the wireless communication system, which is a so-called mobile ad-hoc network. The communication network provides also the means to locate the robots and humans. Thus, the robot swarm is able to provide guidance information to the humans. Together with the fire-fighters we explored how the robot swarm should feed information back to the human fire-fighter. We have designed and experimented with interfaces for presenting swarm-based information to human beings. 相似文献
15.
基于机器人基本行为的控制方法是机器人能够执行许多高级算法的基本条件,且能有效的减少重编程时的代码量,适用于大规模机器人群体中的无线程序烧录,减少通信量。针对课题研发的需求,提出一种基于确定型有穷自动机的机器人行为控制的数学模型,并使用Picoblaze处理器在FPGA上实现了该数学模型,实验表明本文的方法能大幅度的减少代码更新时的通信量。 相似文献
16.
Communication in reactive multiagent robotic systems 总被引:16,自引:5,他引:11
Multiple cooperating robots are able to complete many tasks more quickly and reliably than one robot alone. Communication between the robots can multiply their capabilities and effectiveness, but to what extent? In this research, the importance of communication in robotic societies is investigated through experiments on both simulated and real robots. Performance was measured for three different types of communication for three different tasks. The levels of communication are progressively more complex and potentially more expensive to implement. For some tasks, communication can significantly improve performance, but for others inter-agent communication is apparently unnecessary. In cases where communication helps, the lowest level of communication is almost as effective as the more complex type. The bulk of these results are derived from thousands of simulations run with randomly generated initial conditions. The simulation results help determine appropriate parameters for the reactive control system which was ported for tests on Denning mobile robots. 相似文献
17.
Eliseo Ferrante Ali Emre Turgut Alessandro Stranieri Carlo Pinciroli Mauro Birattari Marco Dorigo 《Natural computing》2014,13(2):225-245
We propose a self-adaptive communication strategy for controlling the heading direction of a swarm of mobile robots during flocking. We consider the problem where a small group of informed robots has to guide a large swarm along a desired direction. We consider three versions of this problem: one where the desired direction is fixed; one where the desired direction changes over time; one where a second group of informed robots has information about a second desired direction that conflicts with the first one, but has higher priority. The goal of the swarm is to follow, at all times, the desired direction that has the highest priority and, at the same time, to keep cohesion. The proposed strategy allows the informed robots to guide the swarm when only one desired direction is present. Additionally, a self-adaptation mechanism allows the robots to indirectly sense the second desired direction, and makes the swarm follow it. In experiments with both simulated and real robots, we evaluate how well the swarm tracks the desired direction and how well it maintains cohesion. We show that, using self-adaptive communication, the swarm is able to follow the desired direction with the highest priority at all times without splitting. 相似文献
18.
19.
HuiKeng Lau Iain Bate Paul Cairns Jon TimmisAuthor vitae 《Robotics and Autonomous Systems》2011,59(12):1021-1035
Swarm robotics is an example of a complex system with interactions among distributed autonomous robots as well with the environment. Within the swarm there is no centralised control, behaviour emerges from interactions between agents within the swarm. Agents within the swarm exhibit time varying behaviour in dynamic environments, and are subject to a variety of possible anomalies. The focus within our work is on specific faults in individual robots that can affect the global performance of the robotic swarm. We argue that classical approaches for achieving tolerance through implicit redundancy is insufficient in some cases and additional measures should be explored. Our contribution is to demonstrate that tolerance through explicit detection with statistical techniques works well and is suitable due to its lightweight computation. 相似文献