机器人网络的分布式控制，以保护一个区域免受入侵者的侵害

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2017-12-01 DOI:10.1109/ROBIO.2017.8324516

A. Savkin, A. Marzoughi

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引用次数: 8

摘要

本文通过使用移动机器人网络解决了在保护区域边界上的入侵者拦截问题。得到了该问题解存在的充分必要条件。提出了一种分散运动控制算法，用于拦截进入保护区域的入侵者。该算法是基于一些简单的规则开发的，计算效率高，易于实时实现。

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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Distributed control of a robotic network for protection of a region from intruders

This paper addresses a problem of intruder interception on the boundary of a protected region through the use of a network of mobile robots. A necessary and sufficient condition for the existence of a solution of this problem is obtained. We propose a decentralized motion control algorithm for the mobile robots to intercept an intruder entering the protected region. The algorithm is developed based on some simple rules that are computationally efficient and easily implementable in real time.

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2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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