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【答案】应助回帖
★ ★ ★ ★ ★
感谢参与，应助指数 +1
hongniuok: 金币+5, ★★★★★最佳答案, 非常好，感谢！ 2015-06-12 15:39:14
Accession number: 20144600199836
Title: Nonholonomic mobile swarm robots hunting in unknown dynamic environments
Authors:
Zhang, Hong-Qiang1, 2 Email author hongniuok@qq.com; Zhang, Jing1 Email author zhangj@hnu.cn; Zhou, Shao-Wu2 Email author shaowuzhou@163.com; Zeng, Zhao-Fu2 Email author zenzf@163.com; Wu, Liang-Hong2 Email author lhwu@hnust.cn
Author affiliation: 1 College of Electrical and Information Engineering, Hu'nan University, Changsha ; Hunan , China
2 College of Information and Electrical Engineering, Hunan University of Science and Technology, Xiangtan ; Hunan , China
Corresponding author:
Zhang, Hong-Qiang
Source title:
Kongzhi Lilun Yu Yingyong/Control Theory and Applications
Abbreviated source title:
Kong Zhi Li Lun Yu Ying Yong
Volume:
31
Issue:
9
Issue date:
September 1, 2014
Publication year:
2014
Pages:
1151-1165
Language:
Chinese
ISSN:
10008152
CODEN:
KLYYEB
Document type:
Journal article (JA)
Publisher:
South China University of Technology
Abstract:
A self-organizing method based on a simplified virtual-force model is proposed for nonholonomic mobile swarm robots hunting in unknown dynamic environment. First, the motion equations of individual robots are given; then the motion models for the hunting target and dynamic obstacles in unknown dynamic environment are presented. Through the decomposition of hunting behavior under complicated environments, a simplified virtual-force model is formed. Based on the virtual-force model, the control method is designed for swarm robots following motions of the hunting target; after that, the stability of the hunting system is analyzed and the control parameter ranges are given. Simulation results for different situations demonstrate that the proposed hunting method can make the group of robots maintain a good hunting formation in unknown dynamic obstacle environments and has good performance of obstacle avoidance and flexibility. Finally, some advantages of this hunting method are presented, compared with the hunting method based on loose-preference rule.
Number of references:
20
Main heading:
Dynamic models
Controlled terms:
Collision avoidance - Data communication equipment - Equations of motion - Mobile robots - Robots
Uncontrolled terms:
Control parameters - Dynamic environments - Dynamic obstacles - Force model - Hunting behavior - Self-organizing method - Swarm robots - Unknown environments
Classification code:
716 Telecommunication; Radar, Radio and Television - 717 Optical Communication - 718 Telephone Systems and Related Technologies; Line Communications - 731.5 Robotics - 914.1 Accidents and Accident Prevention - 921 Mathematics - 921.2 Calculus
DOI: 10.7641/CTA.2014.31243
Database:
Compendex
Compilation and indexing terms, © 2015 Elsevier Inc. |
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