The Multirobot Time-optimal Handling Method Based on Formation Control

摘要：

From the point of multirobot organization control,and based on formation control,a kind of multirobot cooperation handling method—Time-optimal Handling Method (TOHM) has been designed.Under the case of the shape of the object unknown,the method mainly solved how to find the optimal handling points and the path planning problem of the multirobot arriving at the optimal handling points with the shortest time.The collision avoidance of formation transformation by the proposed method—Stable Time-optimal Path Planning (STOPP) is proved in time-optimal conditions.On this basis,handling research on energy-optimal problem and obstacle avoidance can be further analyzed effectively.

作者: Tian-yun Huang Xiao-nan Wang Xue-bo Chen

会议类型: 国际会议

会议名称: Asia Simulation Conference 2008/the 7th International Conference on System Simulation and Scientific Computing(2008亚洲仿真会议/第七届系统仿真和科学计算国际会议)(ICSC2008)

会议地点: 北京

会议语种:英文

在线出版日期: 2008-10-10（万方平台首次上网日期，不代表论文的发表时间）