Obstacle avoidance behavior of swarm robots based on aggregation and disaggregation method

Yue Yu*, Xiangru Chen, Zhaohan Lu, Fengxia Li, Bo Zhang

*此作品的通讯作者

科研成果: 期刊稿件文章同行评审

7 引用 (Scopus)

摘要

One of the current challenges in the development of swarm robots is making them realize obstacle avoidance while keeping formation. This paper proposes a new obstacle avoidance method for multiple robots based on the aggregation and disaggregation approach. First, the formation-based multi-resolution models of swarm robots are presented and the formation attribute-based consistency mapping functions are designed. Then, obstacle avoidance behavior based on aggregation and disaggregation method is presented and the basic obstacle avoidance behaviors are designed. Finally, the simulation results are presented to show the feasibility of the proposed method.

源语言英语
页(从-至)885-898
页数14
期刊Simulation
93
11
DOI
出版状态已出版 - 1 11月 2017

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