计算机工程 ›› 2010, Vol. 36 ›› Issue (5): 179-181.doi: 10.3969/j.issn.1000-3428.2010.05.065

• 人工智能及识别技术 • 上一篇    下一篇

未知环境下分布式多机器人避碰协作算法

周兰凤1,2,徐 芳2   

  1. (1. 上海应用技术学院计算机科学与信息工程系,上海 200235;2. 哈尔滨工业大学计算机科学与技术学院,威海 264209)
  • 收稿日期:1900-01-01 修回日期:1900-01-01 出版日期:2010-03-05 发布日期:2010-03-05

Distributed Multi-robot Coordination Algorithm for Collision Avoidance in Unknown Environments

ZHOU Lan-feng1,2, XU Fang2   

  1. (1. Dept. of Computer Science and Information Engineering, Shanghai Institute of Technology, Shanghai 200235;
    2. School of Computer Science and Technology, Harbin Institute of Technology, Weihai 264209)
  • Received:1900-01-01 Revised:1900-01-01 Online:2010-03-05 Published:2010-03-05

摘要: 针对多机器人协作问题,提出一种未知环境下分布式多机器人协作避碰算法。该算法基于分布式投标模型协调多机器人运动,改进过去算法的前提假设,综合考虑机器人的实际尺寸和传感误差,通过自适应设定投标时间,提高算法的效率,针对通信延时引起的信息不一致,采用按优先级顺序进行探测的方法。仿真实验验证了该算法的可行性。

关键词: 未知环境, 多机器人协作, 避碰

Abstract: Aimming at coordination question of multiple robots, this paper presents a distributed coordination algorithm for collision avoidance between robots in unknown environments. This algorithm is based on a distributed bidding model to coordinate the movement of multiple robots. Past assumptions are not used in the coordination algorithm. Both the data error of the sensors and physical size of the robot are taken into account. By adjusting adaptively the bidding time parameter, the efficiency of the algorithm is improved. To overcome the problem of information inconsistency caused by communication delay, a probing method is developed by the prior order. Simulation test is made to prove the feasibility of the algorithm.

Key words: unknown environments, multi-robot coordination, collision avoidance

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