Motion Planning of Multiple Mobile Robots Using Virtual Impedance
Motion Planning of Multiple Mobile Robots Using Virtual Impedance
复制标题
使用虚拟阻抗的多个移动机器人的运动规划
DOI：
10.20965/jrm.1996.p0067
复制
发表时间：
1993
期刊：
影响因子：
--
通讯作者：
J. Ota
中科院分区：
文献类型：
--
作者：
T. Arai;J. Ota
随着移动机器人工作范围的扩大，多移动机器人的运动规划变得越来越重要。本文从中心化/去中心化机制和n-1在线/离线系统两个角度对各种研究进行了综述和分类。由于可以实现三种组合，因此对这三种组合进行了讨论。讨论了一组移动机器人的运动规划问题。很难评价每一项研究。因此，我们提出了两个标准问题。第一个有8个移动机器人！；容易陷入僵局的人。第二组包括2组，每组4个机器人，需要相互协作动作。
As mobile robots expand their working area, motion planning of multiple mobile robots becomes more important than ever. In this paper, various researches are surveyed and categorized from the two viewpoints: c entralized / decentralized mechanism, and o n-1 i ne/o ff- line system. Since three kinds of combinations may be realizable, the three are discussed. The imotion planning of a group of mobile robots is also discussed. It is difficult to evaluate each research. We therefore proposed two standard problems. The first has 8 mobile robot!; who come easily to a deadlock. The second includes 2 groups of 4 robots respectively, which needs cooperative actions to each other.