摘要
针对多机器人探索未知环境问题,提出了改进型边界探索算法。该算法综合考虑边界角度和距离两种因素,引入分散机制,使机器人团队协同工作,避免出现拥挤,减少探索过程中的重复覆盖和路径交叉现象。基于与其他方法的实验比较结果表明,该探索方法使多机器人具有更好的团队协作能力,提高了探索效率。
To study the cooperating method of multi-robot in exploration, an improved frontier-based exploration algorithm （IFBE） is proposed. Applying in unknown environment exploration with multi-robot teams, this method integrates both orientation and distance of the frontiers and introduces the distribution mechanism so as to coordinate multi-robot＇s behaviors, avoid the collision of the multi-robot and reduce the repeated coverage and path crossover. Simulation results show that this method has a better coordination capability for multi-robot teams and improves the explorative efficiency of a multi-robot team.
出处
《系统工程与电子技术》
EI
CSCD
北大核心
2009年第4期901-904,共4页
Systems Engineering and Electronics
基金
国家“863”高技术研究发展计划
沈阳机器人学国家重点实验室资助课题
关键词
多机器人
协同探索
边界探索
任务分配
multi-robot
coordinated exploration
frontiers-based exploration
task assignment
