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基于牛顿迭代法的移动机器人编队算法
引用本文:邵国万,刘玉芹.基于牛顿迭代法的移动机器人编队算法[J].计算机仿真,2004,21(12):146-148.
作者姓名:邵国万  刘玉芹
作者单位:沈阳化工学院,辽宁,沈阳,110142
摘    要:该文借鉴滚动规划的思想,探究了全局环境未知,障碍物分散条件下移动机器人系统的编队问题。文中提出的基于牛顿迭代法的移动机器人编队算法,将机器人系统的编队问题分解为各个机器人自主移向预定目标的过程,利用实时探得的局部环境信息,不断修整预定目标而完成编队。该算法计算量小,实时性强,不受编队形状所限。仿真结果表明了该算法的有效性。

关 键 词:滚动规划  牛顿迭代法  机器人编队
文章编号:1006-9348(2004)12-0146-03
修稿时间:2003年8月7日

Algorithm of Mobile Robots Formation Based on Iterative Newton Scheme
SHAO Guo-wan,LIU Yu-qin.Algorithm of Mobile Robots Formation Based on Iterative Newton Scheme[J].Computer Simulation,2004,21(12):146-148.
Authors:SHAO Guo-wan  LIU Yu-qin
Abstract:Using the rolling planning strategy, the problem of mobile robots formation in globally unknown environment with distributed obstacles is studied. The algorithm of mobile robots formation based on iterative Newton scheme presented in the paper resolves the formation problem into the process of individual robot autonomous motion toward candidate object. The algorithm makes full use of the real-time local environment information detected by the robots and changes the candidate object on end until the completion of formation. The algorithm has low calculation burden and can react the changes simultaneously and doesn't be confined to the shape of formation. Finally, the simulation result shows that the algorithm is effective.
Keywords:Rolling planning  Iterative Newton scheme  Robots formation
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