【摘要】 目前多机器人避碰运动已经被广泛研究,其控制策略也多种多样。主要解决基于全景视觉传感器的多机器人多目标系统中机器人之间以及机器人和静态障碍物之间的避碰问题,提出了单个自主运动机器人的结构模型、自主机器人周围物体的态势模型以及移动机器人动态速度的快速检测方法。机器人的运动决策采用基于Step-Forward策略的模糊推理机制,实现机器人在动态环境中快速、准确的找到一条无碰撞的路径,最终达到目标点。仿真结果表明了该算法应用于移动机器人在动态复杂环境中的无碰撞运动具有正确性、实用性和智能性等优点,同时该算法计算量小,运算速度快,提高了机器人控制的响应速度。更多还原

【Abstract】 The collision avoidance of Multi-robot motion has been widely applied in various environments as well as the control strategies about Multi-robot systems are also different. The collision avoidance problem between robots and robots as well as between robots and obstacles in Multi-robot systems are deal with based on the omni-directional vision sensor. The model of autonomous robot, the method of detecting dynamic speed of robot and the dangerous degree surrounding with the robot were discussed. The fuzzy reasoning based on Step-Forward motion strategy was applied in the motion decision making of robots to implement rapid and accurate motion following a non-collision path. The simulation results show that the fuzzy-based control collision avoidance strategies are intelligent and useful for making decisions on collision avoidance in multi-robot systems.更多还原