摘要
在多水下机器人之间显式通讯条件下,采用动态优先级策略成功地解决了水下机器人编队航行过程中的避碰避障问题。并建立了环境仿真器,进行了多水下机器人协调避碰仿真实验,取得了良好的效果,验证了算法的有效性。
Under condition of direct communication among MUlti-AUVs, this paper adopts dynamic priority policy to solve the problem of collision avoidence successfully in the process of AUV formation navigation. Then setting emulator is built up and the effectiveness of algorithmic is validated by simulation experiment of multi-AUVs coordination collision avoidence. The conclusion is satisfying.
出处
《微计算机信息》
北大核心
2007年第05Z期232-233,253,共3页
Control & Automation
基金
黑龙江省博士后科研启动金资助(LHK-04010)
