约束环境下的多移动机器人自适应伸展算法(英文)

An adaptive mobile robot tethering algorithm in constrained environments

本文介绍了一种用来控制移动机器人组成链式网络并修复通讯连接的自适应分布式机器人合作算法。开发了单层链式伸展算法和双层链式伸展算法,使得移动机器人可以对开放式环境和受约束环境进行探索。还介绍了一种用于寻找最优通讯距离的综合化的方法。通过使用其测量结果,移动机器人系统可以组织成为优化的链式结构并进行伸展。这种伸展算法可以检测到网络中某个机器人节点的缺失,并重新配置系统。它为通讯连接的中断问题提供了一种自适应的解决方案。

This paper presents an adaptive and decentralized robotic cooperation algorithm for controlling mobile sensors to form a chained network and maintaining communication links.Single-layer and double-layer chain tethering algorithms are developed for exploring open and constrained environments by mobile robots.A comprehensive metric for finding the optimal communication range is introduced.With the measurements,mobile robots could be organized into an optimal chained form for tethering.The tethering algorithm could detect the failed nodes and reconfigure the system.It offers an adaptive solution to broken communication links.