Distributed Motion Generation for Two Omni-Directional Robots Carrying Ladder
Distributed Motion Generation for Two Omni-Directional Robots Carrying Ladder
复制标题
两个携带梯子的全向机器人的分布式运动生成
DOI：
10.1007/978-4-431-67919-6_40
复制
发表时间：
2000
影响因子：
5.7
通讯作者：
M. Yamashita
中科院分区：
文献类型：
--
作者：
Y. Asahiro;E. Chang;A. Mali;Syunsuke Nagafuji;I. Suzuki;M. Yamashita
讨论了利用分布式控制来有效地移动一对携带梯子的全方位机器人的问题。我们首先考虑了两个可能只有最大速度不同的机器人位于无障碍工作空间的情况，并提出了两种分布式算法。其次，针对工作空间为90度转角的狭长走廊，从具有不同最大速度、路径生成策略、对另一个机器人运动敏感度等不同特征的机器人库中选择两个机器人，提出了一种分布式算法，并通过计算机仿真对算法的有效性进行了评估。最后，我们给出了一种基于启发式搜索的分布式控制方案，该方案可以潜在地用于更复杂的情况，包括在充满障碍物的工作空间中涉及大量机器人。
The problem of efficiently moving a pair of omni-directional robots carrying a ladder using distributed control is discussed. We first consider the case in which two robots that may differ only in their maximum speeds are situated in an obstacle-free workspace, and present two distributed algorithms. Next, a distributed algorithm is presented for the case in which the workspace is a narrow corridor with a 90 degree corner and two robots are chosen from a large pool of robots having different characteristics in terms of the maximum speed, path generation strategy, sensitivity to the motion of the other robot, etc. The effectiveness of the algorithms is evaluated using computer simulation. Finally we present an outline of a distributed control scheme based on heuristic search that can potentially be used for more complex situations involving a larger number of robots in a workspace cluttered with obstacles.