A Classification-Based Search Method for Generating Large-Scale Robot Formation

摘要：

　　Formation control is a significant issue in multi-robot systems and formation generating is the fast step to attain a desired formation.This paper develops a classification-based search method to solve arbitrary formation generating problems for large-scale robot teams, where the number of the robots team will be hundreds or even thousands.In order to avoid global scope search and reduce the computation complexity of the assignment process, we divide the workspace into square cells and classify the robots into 3 different categories.Then several groups of simulated experiments are carried out with hundreds of robots.The experimental results demonstrate the success of the proposed approach.

关键词： multiple mobile robots formation generating classification-based search method

作者: Xingnan ZHANG Fan OUYANG Chunlin CHEN

作者单位: Department of Control and System Engineering,Nanjing University,Nanjing,China

会议类型: 国内会议

会议名称: Thirteenth Chinese Conference,SSTA 2011(第十三届中国系统仿真技术及其应用学术会议)

会议地点: 黄山

会议语种:英文

页码: 1029-1033

在线出版日期: 2011-08-03（万方平台首次上网日期，不代表论文的发表时间）