| 多机器人动态避碰及抬箱编队仿真研究 |
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| 引用本文： | 李佩林,李志春.多机器人动态避碰及抬箱编队仿真研究[J].机械设计与制造,2011(11). |
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| 作者姓名： | 李佩林 李志春 |
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| 作者单位： | 南昌工程学院机械与电气学院,南昌,330099 |
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| 基金项目： | 江西省教育厅科学技术资助项目(GJJ1063) |
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| 摘 要： | 觅食、推箱以及编队是多机器人系统研究中的经典任务形式,提出的新的多机器人任务:抬箱任务是由觅食、推箱以及编队等任务拓展而来,适用领域非常广阔。设计了多机器人在动态环境中的各种反应行为,实现了多机器人之间的动态避碰;提出了围绕固定物体边缘形成抬箱队形的算法,该算法的设计具有可扩展性,详细考察了机器人之间发生碰撞的情形,并根据人类避碰的一般策略完全实现了机器人之间的动态避碰。仿真结果证实了算法的可行性。
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| 关 键 词： | 多机器人系统 避碰 编队 抬箱任务 |
Simulation research on multi-robot dynamic collision avoidance and carrying-box formation |
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| LI Pei-lin,LI Zhi-chun.Simulation research on multi-robot dynamic collision avoidance and carrying-box formation[J].Machinery Design & Manufacture,2011(11). |
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| Authors: | LI Pei-lin LI Zhi-chun |
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| Affiliation: | LI Pei-lin,LI Zhi-chun(School of Mechanical and Electronic Engineering,Nanchang Institute of Technology,Nanchang 330099,China) |
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| Abstract: | Foraging,pushing box and formation are several classic forms of tasks in multi robot system.It proposed a new task form for the multi-robot,i.e.carrying box task,which is expanded from foraging,pushing and formation tasks and application field is very broad.Various reactive behaviors of multi-robot were designed and multi-robot dynamic collision avoidance was realized;Meanwhile an algorithm for carrying box formation around edge of fixed object was represented,which is designed with scalability.After observ... |
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| Keywords: | Multi-robot systems Collision avoidance Formation Carrying box task |
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