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Indexed by:会议论文

Date of Publication:2011-06-12

Included Journals:EI、CPCI-S、Scopus

Volume:6729

Issue:PART 2

Page Number:82-+

Key Words:Self-organized; Collaborative handling; Formation control

Abstract:The purpose of this paper is to develop a general self-organized approach to multi-robot's collaborative handling problem. Firstly, an autonomous motion planning graph (AMP-graph) is described for individual movement representations. An individual autonomous motion rule (IAM-rule) based on "free-loose" and "well-distributed load-bearing" preferences is presented. By establishing the simple and effective individual rule model, an ideal handling formation can be formed by each robot moving autonomously under their respective preferences. Finally, the simulations show that both the AMP-graph and the IAM-rule are valid and feasible. On this basis, the self-organized approach to collaborative hunting and handling with obstacle avoidance of multi-robot systems can be further analyzed effectively.