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未知环境探测的多机器人协作机制和策略

Mechanism and Strategy of Multi-robot Coordination for Exploring Unknown Environments
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摘要 机器人间的协调是多机器人系统高效工作的关键,它取决于如何为机器人分配任务以及机器人如何执行任务。本文针对未知环境探测,提出了一种多机器人框架,并给出了一种衡量多机器人合作能力的时间效率曲线。仿真实验表明,该策略可满足未知环境探测任务,并能达到实时规划的要求。 The coordination of robots is the key of effective task for multi-robot system. Kernel problems of Multi-robot coordination are task allocation and task administration. In order to handle exploring unknown environments, this paper presents a mechanism of multi-robot coordination and a Time-efficiency Curve of measuring multi-robot coordination capacity. Simulation experiments show that, in our strategy, the exploring time is inversely proportional to the number of robots, and this relationship remains in various environments. Also, system planning can run in real-time.
作者 陈宗海 贾梦雷
机构地区 中国科学技术大学自动化系
出处 《世界科技研究与发展》 CSCD 2005年第6期9-16,共8页 World Sci-Tech R&D
关键词 多机器人协作 任务分配 路径规划 时间效率曲线 未知环境探测 multi-robot coordination, task allocation, path planning, time-efficiency curve,exploring unknown environments
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置] TP242.62 [自动化与计算机技术—检测技术与自动化装置]
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参考文献21

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世界科技研究与发展
2005年 第6期

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