计算机工程
計算機工程
계산궤공정
COMPUTER ENGINEERING
2010年
5期
179-181
,共3页
未知环境%多机器人协作%避碰
未知環境%多機器人協作%避踫
미지배경%다궤기인협작%피팽
unknown environments%multi-robot coordination%collision avoidance
针对多机器人协作问题,提出一种未知环境下分布式多机器人协作避碰算法.该算法基于分布式投标模型协调多机器人运动,改进过去算法的前提假设,综合考虑机器人的实际尺寸和传感误差,通过自适应设定投标时间,提高算法的效率,针对通信延时引起的信息不一致,采用按优先级顺序进行探测的方法.仿真实验验证了该算法的可行性.
針對多機器人協作問題,提齣一種未知環境下分佈式多機器人協作避踫算法.該算法基于分佈式投標模型協調多機器人運動,改進過去算法的前提假設,綜閤攷慮機器人的實際呎吋和傳感誤差,通過自適應設定投標時間,提高算法的效率,針對通信延時引起的信息不一緻,採用按優先級順序進行探測的方法.倣真實驗驗證瞭該算法的可行性.
침대다궤기인협작문제,제출일충미지배경하분포식다궤기인협작피팽산법.해산법기우분포식투표모형협조다궤기인운동,개진과거산법적전제가설,종합고필궤기인적실제척촌화전감오차,통과자괄응설정투표시간,제고산법적효솔,침대통신연시인기적신식불일치,채용안우선급순서진행탐측적방법.방진실험험증료해산법적가행성.
Aimming at coordination question of multiple robots,this paper presents a distributed coordination algorithm for collision avoidance between robots in unknown environments.This algorithm is based on a distributed bidding model to coordinate the movement of multiple robots.Past assumptions are not used in the coordination algorithm.Both the data error of the sensors and physical size ofthe robot are taken into account.By adjusting adaptively the bidding time parameter,the efficiency of the algorithm is improved.To overcome the problem of information Inconsistency caused by communication delay,a probing method is developed by the prior order.Simulation test is made to prove the feasibility of the algorithm.
