点击次数：

论文类型：会议论文

发表时间：2011-06-12

收录刊物：EI、CPCI-S、Scopus

卷号：6729

期号：PART 2

页面范围：82-+

关键字：Self-organized; Collaborative handling; Formation control

摘要：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.