多移动机器人编队行进中的行为分解

Behavior Decomposition of Formation Keeping for Multi-Robot System

利用有限状态自动机的原理对多移动机器人的行为进行了分解,找到了行为空间上的两种不同的等价划分,并由此得出了一种较简单的行为合成策略.仿真结果表明,这种行为分解与合成的策略是有效的.

Focused on FSM-based behavior decomposition of multi-robot system and found two e- quivalent partitions for behavior space. Presented a strategy of behavior composition, which was simple. The conclusion was supported by the computer simulation.