上海交通大学学报

上海交通大学学报（自然版） ›› 2011, Vol. 45 ›› Issue (07): 990-994.

• 自动化技术、计算机技术 • 上一篇    下一篇

多模块式移动机器人系统的自组织协作行为

费燕琼a,b，朱越梁a,b，宋立博a,b   

  1. (上海交通大学 a.机器人研究所； b.机器人学国家重点实验室， 上海 200240)
  • 收稿日期:2010-05-19 出版日期:2011-07-29 发布日期:2011-07-29
  • 基金资助:

    国家自然科学基金资助项目(50775145,51075272)，机器人学国家重点实验室开放基金资助项目(RL0200906)

On Self-organized Collaboration Behavior in  Multi-modular Mobile Robots

 FEI  Yan-Qiong-a, b , ZHU  Yue-Liang-a, b , SONG  Li-Bo-a, b   

  1. (a.Research Institute of Robotics； b.State Key Laboratory of Robotics， Shanghai Jiaotong University， Shanghai 200240, China)
  • Received:2010-05-19 Online:2011-07-29 Published:2011-07-29

摘要： 设计了一种新颖的、由4个基本功能模块组成的模块式移动机器人.针对多模块式移动机器人系统在复杂环境下的自组织协作行为，提出了目标趋向控制、多障碍物避障和自组织协调3种运动策略.分析了多机器人目标趋向运动的方向选择规则；描述了基于“感知动作”的多障碍物避障控制策略，实现了多机器人连续避障并到达指定目标点；研究了多机器人的协调运动策略，通过多机器人协作完成了单机器人无法完成的搬重物、过台阶等任务.三维仿真结果表明了该控制策略对不同环境、多障碍物条件下多机器人协作行为的适应性.

关键词: 模块化, 多机器人, 自组织, 协作

Abstract:  A new modular mobile robot was designed, which consists of four basic modules. For the selforganized collaboration behavior of multi-modular mobile robots in the complex environment, this paper presented three motion strategies. The direction selected rules of the goal were analyzed in the multimodular mobile robots. The multi-obstacle avoidance strategy that based on the “perception-action” was described. So robots can avoid the obstacle continuously and reach the assigned goal. The coordination strategy in multi-modular robots was shown, by which they can cooperate with others to carry the heavy or climb over a step that a single robot cannot complete. At last, the 3D simulation proves the validity of the strategy in the multi-obstacle environment.

Key words: modular, multirobot, self-organized, collaboration

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