摘要
针对提高机器人对未知环境的探索效率需要通过协商来解决多个机器人之间的任务分配问题,提出了改进市场法.该方法利用机器人提交的标的信息,采用数据融合方法更新其他机器人的本地地图,在连通条件下计算原先无法计算的花费,而且未增加额外的通信量.另外,还提出用目标点切换率这一新指标来衡量机器人之间的协作程度.仿真实验结果验证了改进算法优于原先的市场法,并说明了该算法适用的环境.
The problem of exploring unknown environments of multi-robot exploration is discussed. Market-based approach is improved and used to update the local maps by data fusion method and compute costs in the condition of connection, while it does not add the extra communication. A new performance metric, target point exchanged ratio (TPER) is proposed, to reflect the degree of collaboration. The simulation results show that the method is better than original market-based approach, and the proper environments are analyzed.
出处
《控制与决策》
EI
CSCD
北大核心
2005年第5期516-520,524,共6页
Control and Decision
基金
国家自然科学基金项目(60105005).
关键词
多机器人
协作探索
市场法
数据融合
Computer simulation
Mobile robots
Robustness (control systems)
Sensor data fusion
Statistical methods
