摘要
设计了一种新颖的、由4个基本功能模块组成的模块式移动机器人.针对多模块式移动机器人系统在复杂环境下的自组织协作行为,提出了目标趋向控制、多障碍物避障和自组织协调3种运动策略.分析了多机器人目标趋向运动的方向选择规则;描述了基于"感知-动作"的多障碍物避障控制策略,实现了多机器人连续避障并到达指定目标点;研究了多机器人的协调运动策略,通过多机器人协作完成了单机器人无法完成的搬重物、过台阶等任务.三维仿真结果表明了该控制策略对不同环境、多障碍物条件下多机器人协作行为的适应性.
A new modular mobile robot was designed,which consists of four basic modules.For the self-organized collaboration behavior of multi-modular mobile robots in the complex environment,this paper presented three motion strategies.The direction selected rules of the goal were analyzed in the multi-modular mobile robots.The multi-obstacle avoidance strategy that based on the ＂perception-action＂ was described.So robots can avoid the obstacle continuously and reach the assigned goal.The coordination strategy in multi-modular robots was shown,by which they can cooperate with others to carry the heavy or climb over a step that a single robot cannot complete.At last,the 3D simulation proves the validity of the strategy in the multi-obstacle environment.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2011年第7期990-994,共5页
Journal of Shanghai Jiaotong University
基金
国家自然科学基金资助项目(50775145
51075272)
机器人学国家重点实验室开放基金资助项目(RL0200906)
关键词
模块化
多机器人
自组织
协作
modular
multi-robot
self-organized
collaboration
