SIA OpenIR  > 海洋信息技术装备中心
群机器人区域覆盖方法研究
Alternative TitleResearch on Region Coverage Approach with Swarm Robots
李冠男; 董凌艳; 徐红丽; 林扬
Department海洋信息技术装备中心
Source Publication机器人
ISSN1002-0446
2017
Volume39Issue:5Pages:670-679
Indexed ByEI ; CSCD
EI Accession number20174304293610
CSCD IDCSCD:6179696
Contribution Rank1
Funding Organization中国科学院国防科技创新基金(CXJJ-15M031) ; 中国国家留学基金
Keyword群机器人 模式形成控制 区域覆盖 Buzz语言 Argos仿真平台
Abstract

研究了一种可以对任意形状的目标区域形成覆盖的群机器人自主部署方法.机器人部署过程分为2个阶段:模型生成阶段和机器人部署阶段。在模型生成阶段,首先利用智能优化算法,得到表征机器人最优部署位置的点云.然后将点云映射为图模型.在此基础上,群机器人部署问题被转化为群机器人模式形成问题。设计了一套行为规则,使机器人根据图模型运动,最终形成期望模式.通过仿真实验验证了所研究模式形成方法可以实现涉及约30台机器人的复杂模式,并用实际机器人对本文方法进行了验证。

Other Abstract

An auto deployment approach of swarm robots is studied to cover a target region with random shape. The deployment approach consists of two stages:model generation phase and robot deployment phase. In the model generation phase, an intelligent optimization algorithm is used to get a point cloud, which can represent the optimal deployment positions of robots. Then, the point cloud is mapped to a graph model. On this basis, the robot deployment problem is transformed into a pattern formation problem of swarm robots. A set of behavior laws are designed to drive robots to move according to the graph model, and to achieve the desired pattern. Simulation experiments are performed to demonstrate that the pattern formation method can form complex patterns with around 30 robots. And the proposed method is then verified with real robots.

Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/20951
Collection海洋信息技术装备中心
Corresponding Author徐红丽
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院大学
Recommended Citation
GB/T 7714
李冠男,董凌艳,徐红丽,等. 群机器人区域覆盖方法研究[J]. 机器人,2017,39(5):670-679.
APA 李冠男,董凌艳,徐红丽,&林扬.(2017).群机器人区域覆盖方法研究.机器人,39(5),670-679.
MLA 李冠男,et al."群机器人区域覆盖方法研究".机器人 39.5(2017):670-679.
Files in This Item: Download All
File Name/Size DocType Version Access License
群机器人区域覆盖方法研究.pdf(643KB)期刊论文作者接受稿开放获取ODC PDDLView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[李冠男]'s Articles
[董凌艳]'s Articles
[徐红丽]'s Articles
Baidu academic
Similar articles in Baidu academic
[李冠男]'s Articles
[董凌艳]'s Articles
[徐红丽]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[李冠男]'s Articles
[董凌艳]'s Articles
[徐红丽]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 群机器人区域覆盖方法研究.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.