【摘要】 通过搭建一个面向复杂任务的多移动机器人分布式合作系统试验平台,着重研究了异构机器人之间协调与合作的关键问题。系统采用基于WLAN的通信模式和基于有限状态机模型的规划与控制集成方法。试验结果证明,该控制策略及通信设计方案是有效的。更多还原

【Abstract】 A full physical experimental system performing complex tasks was builded,the key techniques of cooperation and coordination with heterogeneous robots were discussed in detail.Based on WLAN,system adopt the integration of planning and reactive control with the finite state automata(FSA) model.Multi-robot experimental results demonstrate the validity of the control algorithm and communication method.更多还原