基于动态密度引导的多机器人编队队形变换方法

曹凯, 陈阳泉, 李康, 陈超波, 阎坤, 刘伟超

Dynamic Density-Guided Method for Multi-Robot Formation Transformation

CAO Kai, CHEN Yangquan, LI Kang, CHEN Chaobo, YAN Kun, LIU Weichao

图18 仿真4编队合并过程机器人代价函数

Fig.18 Robot cost function of formation merging process of Simulation 4