摘要
提出了一种适用于实时动态环境下机器人团队的基于行为的分布式实时队形控制算法。研究了这种基于行为的方案在遇到大体积障碍物时行为 ,仿真过程表明该算法既能使机器人动态分组、各自规划 ,又能使机器人部队作为一个整体维持队形。该算法可使机器人形成和保持任意队形 ,同时集成了避障和导航的能力。
A distributed behavior-based formation control algorithm for multiple mobile robots group in real-time dynamic environment is discussed. The robots' behavior when avoiding large obstacle is investigated. The simulations show that this algorithm can divide robots into dynamic subgroups or moving as a whole group to maintain the formation during avoiding. Robot group controlled by this algorithm can form and maintain any formations when navigation along a collision-free path to goal. The problems when the group avoid and turn are also given with their reason and improving method.
出处
《机器人技术与应用》
2001年第4期28-32,共5页
Robot Technique and Application
