非完整移动机器人的多机器人混合

2014 IEEE Conference on Control Applications (CCA) Pub Date : 2014-12-11 DOI:10.1109/CCA.2014.6981399

Y. Diaz-Mercado, M. Egerstedt

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引用次数: 2

摘要

在本文中，我们研究了一个非完整独轮车机器人团队可以施加多少“混合”。这个概念是通过编结编码的，并提出了一个控制器来执行编结，同时确保团队没有碰撞。还提供了混合边界，即在该编织控制器下可能的混合量的边界。当它们在一组移动机器人上实施时，结果将得到验证，这些移动机器人合作实现所需的混合水平。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Multi-robot mixing of nonholonomic mobile robots

In this paper we investigate how much “mixing” one can impose on a team of nonholonomic unicycle robots. This notion is encoded through braids, and a controller is proposed that executes the braids while ensuring that the team is collision-free. Mixing bounds, the bounds on the amount of mixing possible under this braid controller, are also provided. Results are validated when they are implemented on a team of mobile robots which are cooperatively achieving desired mixing levels.

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2014 IEEE Conference on Control Applications (CCA)

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