Line and circle formation of distributed physical mobile robots
Line and circle formation of distributed physical mobile robots
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DOI：
10.1002/(sici)1097-4563(199702)14:2
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发表时间：
1997-02
期刊：
影响因子：
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通讯作者：
X. Yun;G. Alptekin;O. Albayrak
中科院分区：
文献类型：
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作者：
X. Yun;G. Alptekin;O. Albayrak
分布式移动的机器人的编队问题在文献中研究的理想机器人。理想化的机器人能够瞬间向任何方向移动，并配备了完美的距离传感器。在这项研究中，我们解决的形成问题的分布式移动的机器人受到物理约束。移动的机器人在这项研究中考虑的物理尺寸和他们的运动是由物理定律。它们配备了声纳和红外距离传感器。线和圆的形成进行了详细研究。它表明，线和圆的算法开发的理想化的机器人不工作，以及物理机器人。新的线和圆的算法，考虑到物理机器人和传感器，并通过广泛的模拟验证。John Wiley & Sons，Inc.
The formation problem of distributed mobile robots was studied in the literature for idealized robots. Idealized robots are able to instantaneously move in any directions, and are equipped with perfect range sensors. In this study, we address the formation problem of distributed mobile robots that are subject to physical constraints. Mobile robots considered in this study have physical dimensions and their motions are governed by physical laws. They are equipped with sonar and infrared range sensors. The formation of lines and circles is investigated in detail. It is demonstrated that line and circle algorithms developed for idealized robots do not work well for physical robots. New line and circle algorithms, with consideration of physical robots and sensors, are presented and validated through extensive simulations. © 1997 John Wiley & Sons, Inc.