多机器人动态避碰及抬箱编队仿真研究  

Simulation research on multi-robot dynamic collision avoidance and carrying-box formation

作　　者：李佩林[1] 李志春[1] 

机构地区：[1]南昌工程学院机械与电气学院,南昌330099

出　　处：《机械设计与制造》2011年第11期188-190,共3页Machinery Design & Manufacture

基　　金：江西省教育厅科学技术资助项目(GJJ1063)

摘　　要：觅食、推箱以及编队是多机器人系统研究中的经典任务形式,提出的新的多机器人任务:抬箱任务是由觅食、推箱以及编队等任务拓展而来,适用领域非常广阔。设计了多机器人在动态环境中的各种反应行为,实现了多机器人之间的动态避碰;提出了围绕固定物体边缘形成抬箱队形的算法,该算法的设计具有可扩展性,详细考察了机器人之间发生碰撞的情形,并根据人类避碰的一般策略完全实现了机器人之间的动态避碰。仿真结果证实了算法的可行性。Foraging,pushing box and formation are several classic forms of tasks in multi robot system.It proposed a new task form for the multi-robot,i.e.carrying box task,which is expanded from foraging,pushing and formation tasks and application field is very broad.Various reactive behaviors of multi-robot were designed and multi-robot dynamic collision avoidance was realized;Meanwhile an algorithm for carrying box formation around edge of fixed object was represented,which is designed with scalability.After observing and studying in detail collision situation between robots,dynamic collision avoidance among robots is realized according to general strategy of human collision.Simulation results verified that the algorithm is feasible.

关 键 词：多机器人系统 避碰 编队 抬箱任务 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.2[自动化与计算机技术—检测技术与自动化装置]