UGV协同系统研究进展  

Advances in unmanned ground vehicles coordination system

作　　者：阎岩[1] 唐振民[1] 

机构地区：[1]南京理工大学计算机科学与技术学院模式识别与机器智能研究所,南京210094

出　　处：《计算机应用研究》2011年第10期3623-3628,3636,共7页Application Research of Computers

基　　金：国家自然科学基金重大研究计划重点资助项目(90820306);高等学校博士点专项基金资助项目(20093219120025)

摘　　要：无人地面车辆(UGV)在工业自动化、星球探索、灾后救援、智能交通以及军事作战等多任务领域都具有广阔的应用前景。UGV协同系统通过嵌入组织架构、合作策略、交互机制等协同内容,可以达到拓展环境感知范围、提高复杂环境理解适应能力和增强复杂任务工作效能的目的,受到了国内外广泛的关注。从UGV单体/群体体系结构、多重任务协同分配方法以及协同定位、编队、覆盖/探索等几个方面对目前国内外UGV协同工作关键技术进行了总结,给出了一个UGV协同系统的应用实例,并指出了系统发展趋势。UGV has widely applied in industrial automation,planet exploration,disaster succor,intelligent traffic and military operation areas.A UGV coordination system which has received abroad focuses,can expand UGV perception scope,improve understand and adapt ability,enhance work performance in complex environment through embedded organizing framework,cooperate strategy and interact mechanism.This paper summarized the key technologies including single/group UGV architectures,task allocation approaches,coordinate localization,formation and mask/exploration approaches domestic and international researches.Finally gave a system instance and indicated future development trends as well.

关 键 词：无人地面车辆 协同系统 体系结构 合作策略 交互机制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]