Computer Engineering and Applications ›› 2008, Vol. 44 ›› Issue (30): 9-12.DOI: 10.3778/j.issn.1002-8331.2008.30.003

• 博士论坛 • Previous Articles     Next Articles

Swarm-robot grid distribution and motion in complicated environment

XIONG Ju-feng1,TAN Guan-zheng2   

  1. 1.College of Physics and Information Science,Hunan Normal University,Changsha 410081,China
    2.College of Information Science and Engineering,Central South University,Changsha 410083,China
  • Received:2008-06-03 Revised:2008-07-25 Online:2008-10-21 Published:2008-10-21
  • Contact: XIONG Ju-feng

复杂环境中群机器人网格分布与移动

熊举峰1,谭冠政2   

  1. 1.湖南师范大学 物理与信息科学学院,长沙 410081
    2.中南大学 信息科学与工程学院,长沙 410083
  • 通讯作者: 熊举峰

Abstract: How to control swarm formation in complicated environment is a challenging problem.This paper analyzes the principle on grid distribution and motion control of swarm-robot based on virtual force,puts forward some performance judgment parameters(such as stabilization time,collision times,connection number,cluster number,and so on).The effect of virtual force on grid formation motion is discussed.The result of the experiment shows that this method can accomplish the grid distribution and motion control robustly and efficiently.At last,the directions of further research are proposed.

Key words: swarm-robot system, virtual force, grid distribution, formation motion

摘要: 如何控制不受数量限制的群机器人形成队形并在复杂环境中移动,是一个极具挑战性的问题。基于虚拟力原理分析了群机器人网格队形分布和移动控制方法,制定了详细的系统性能评价指标(稳定时间、碰撞次数、连接数、簇数等参数),研究了网格队形在复杂环境中的移动以及不同虚拟力对移动的影响。通过在复杂障碍物环境中的仿真,显示出该方法可以鲁棒、有效地完成网格分布和移动任务。指出了今后的研究方向。

关键词: 群机器人系统, 虚拟力, 网格分布, 队形移动