Abstract
摘要: 主要研究了未知环境中的多机器人系统的无碰协调跟随问题, 提出了一种跟随机器人的基于局部感知的多模式控制方法, 分为到达、旋转角度调整、跟随、避障和随机搜索五种模式, 其中跟随模式采用模糊距离调整与角度调整策略实现对领航机器人的跟随并尽量与之保持一定的距离, 当需要避障时, 切线约束的避障策略使得自主机器人安全躲避潜在的危险. 该方法降低了多机器人系统对通讯的依赖性, 易于扩展, 通过实验对有效性进行了验证. 关键词: 多机器人 / 动态跟随 / 局部感知 / 多模式控制
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