Abstract:
In order to avoid the obstacles in the surrounding environment, some changes of formation style should be applied on the traditional-controlled formation. Those changes of formation can not satisfy those situations in which high degree of accuracy is required, like joint transportation. This paper introduces a strategy of rigid-formation control which regards the whole formation as a virtual unity. Theoretical analysis and experimental results show that this strategy can successfully smooth the track during avoiding obstacles, increase the degree of formation-maintain accuracy, and solve the contradiction between avoiding obstacles and keeping formation.
Key words:
multiple robots,
formation,
leader-referenced,
information fusion,
obstacle avoidance
摘要:
传统的编队方法在进行避障时会发生队形改变,不能满足联合搬运等对队形精度要求高的应用场合。针对该问题,提出一种将整个编队看作一个虚拟个体的运动规划策略。理论分析和实验结果表明,该方法可以有效消除避障过程中的轨迹抖动,提高队形保持的精度,解决避障与队形保持之间的矛盾。
关键词:
多机器人,
编队,
领队跟踪法,
信息融合,
避障
CLC Number:
WANG Cong-Ying, HE Yan. Realization of Formation Control Among Obstacles Based on Sonar Fusion[J]. Computer Engineering, 2010, 36(20): 185-187.
王聪颖, 何衍. 基于声纳融合的障碍环境编队控制实现[J]. 计算机工程, 2010, 36(20): 185-187.