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题名: Behavior selection and coordination of the Internet-based multi-robot teleoperation system by a neural group network approach
作者: Li X(李响) ; Wang YC(王越超)
作者部门: 机器人学研究室
会议名称: IEEE International Conference on Robotics and Biomimetics (ROBIO 2007)
会议日期: December 15-18, 2007
会议地点: Sanya, China
会议主办者: IEEE Robot & Automat Soc, Shandong Univ, Chinese Univ Hong Kong, Chiba Inst Technol, Robot Soc Japan, Soc Instrument & Control Engn, Japan Soc Mech Engn, ROBIO Fdn
会议录: 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2007
页码: 37-42
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-1761-2
关键词: neural group network ; Internet ; multi-robot ; evaluation strategy ; behavior coordination
摘要: In recent years, the Internet-based teleoperation control has become a research focus. Compared with single robot, multi-robot system can be applied to many fields. It has the ability to complete the complicated tasks more rapidly and effectively. The combination form of the Internet-based multi-robot teleoperation system has attracted the widespread attention. However, due to the existence of the random time-delay, it is difficult for the robots to obtain the real-lime operation commands. This may seriously decrease the stability and reliability of the system. Properly increasing the local-autonomy of the telerobots under the human operation via the Internet is an effective way. In this paper, a neural group network approach to autonomous behavior selection and coordination is proposed. It is capable of controlling a group of Internet-based mobile telerobots to achieve multiple tasks automatically when data transmission is failed. The architecture of the Internet-based multi-robot teleoperation system and a neural group network controller model are presented. Then, we describe the behavior coordination process based on the selective strategy. The validity of our approach is demonstrated on the Internet-based telerobot soccer system by simulation experiments. The results and future work are described in the end.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8597
Appears in Collections:机器人学研究室_会议论文

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