摘要
研究了一种新的多机器人交替定位方式中的未来信标机器人位置规划方法。在位置规划方法中,首先根据未来信标位置应该满足的条件分别设置目标函数和非线性约束方程,其中目标函数是使三个信标机器人组成的三角形尽量接近等边三角形,非线性约束则考虑超声波测距模块的测量范围以及机器人队伍的探索方向等因素,然后用约束非线性优化算法计算未来信标位置。仿真实验验证了该方法的有效性。
A new position layout of the future beacon robots in multirobots＇ leapfrog was brought out. This method atfirst sets target function and nonlinear constrain equations according to the conditions the future robot＇s position should satisfy. The target function is to make the shape composed by three beacons like equilateral triangle and the nonlinear constrains take account of the measurement range of the ultrasonic distance-measurement module and the orientation that the robot team explores, etc. Then this method calculates the position of the future beacon robot. The simulation test verifies its effectivity.
出处
《系统仿真学报》
EI
CAS
CSCD
北大核心
2008年第5期1317-1320,共4页
Journal of System Simulation
关键词
交替定位
目标函数
位置规划
非线性约束方程
leapfrog
target function
position layout
nonlinear constrain equation
