基于局部行为序列的多机器人曲线移动技术

MULTI-ROBOT CURVE MOVEMENT BASED ON LOCAL ACTION SEQUENCE

传统的机器人编队移动技术基于全局定位系统,缺乏灵活性和扩展性。研究分布式环境下多机器人保持队形的曲线移动技术。利用Leader-Follower策略获得原始的需求行为路径,利用Affine变换计算出预计的队形轨迹,利用行为分解计算出单个机器人的局部操作队列,最后利用同步机制保证整个系统的一致性。实验显示了很理想的效果。

Traditional robot formation techniques are based on global location system ,which are short of flexibility and extendibility. In the paper the multi-robot curve movement technique in distribution environment is studied. It uses Leader-Follower strategy to get primitive path data for our need, and then performs Affine transform to calculate the robot array track, and gets local operation queue of individual robot by decomposing on each step. Finally we utilize synchronization mechanism to assure the consistency of the system. The experiments show that the system achieves satisfactory results.