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相关实验视频

Updated: May 7, 2025

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对于机器人组的分布式控制策略,在集群中应用.

Xiang Li1, Chuanchuan Wang2,3, Chunyan Li4

  • 1School of Engineering, Guangzhou College of Technology and Business, Guangzhou, China.

Scientific reports
|December 31, 2024
PubMed
概括

本研究介绍了机器人组的三角形构造 (TF) 算法,使等边三角形构造成为可能. 可扩展的TF算法成功实现了在未知的环境中实现群集和避开障碍.

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 分布式系统 分布式系统
  • 控制理论 控制理论

背景情况:

  • 协调的多机器人系统需要有效的形成控制策略.
  • 可扩展性和避开障碍是群体机器人的关键挑战.

研究的目的:

  • 介绍一个新的分布式控制策略,三角形形成 (TF) 算法,用于机器人群.
  • 使机器人能够使用几何方法实现等边三角形配置 (ETC).
  • 为了提高TF算法的可扩展性和避免集团障碍.

主要方法:

  • 用几何方法来定义三角形形成 (TF) 算法.
  • 邻居选择技术确保了大型机器人群的可扩展性.
  • 整合了一个人工物理模型,以避免小组障碍.

主要成果:

  • 三角形形成 (TF) 算法成功使三个相邻的机器人形成一个等边三角形配置 (ETC).
  • 该算法通过邻居选择来证明大型机器人群的可扩展性.
  • 模拟证实了增强的TF算法的有效性,在未知的环境中实现了群体聚集和避开障碍的效果.

结论:

关键词:
人工物理的人工物理分布式控制 分布式控制群交群交的 群交群交的群体机器人技术 群体机器人

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  • 三角形形成 (TF) 算法为多机器人系统提供了一个可扩展和有效的分布式控制策略.
  • 人工物理模型的集成增强了算法的群体避难障碍的能力.
  • 在复杂,未知的环境中,TF算法促进了多ETC网络在复杂,未知的环境中成功集群.