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AN IMPROVED CONTROL ALGORITHM FOR ARBITRARY FORMATION OF MULTIPLE ROBOTS
Author(s): 
Pages: 521-525
Year: Issue:  6
Journal: ROBOT

Keyword:  多机器人系统队形系统模型划分;
Abstract: 针对快速收敛的机器人部队任意队形控制算法中存在的问题,提出一种改进的多机器人系统模型和控制算法.新方案中详细讨论了基于全局通信的机器人集合划分方式,机器人可以以多种策略选择跟踪对象,并且新的系统模型和控制算法能够用于具有不同高度的机器人、目标和障碍物的情形.理论分析表明新方案尽可能多地减少智能体机器人之间的冲突及等待时间,更接近实际应用.
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