A novel strategy for distributed multi-robot coordination in area ezploration
A reliable and efficient multi-robot coordination strategy is proposed to accomplish area exploration task in unknown environment. This approach is an improved one based on social potential field (SPF) model and market-based (MD) approach to coordinate the movement of multiple robots. Unlike traditional SPF, our model is a non-continuous one in time. In this approach, non-continuous SPF and market-driven approach are used for global coordination to provide movement direction and goal location for every robot, and robots run towards goal locations by local path planning. To gain optimized global scheme, a global evaluation function is proposed as constraints, accordingly. Simulation experiments results show the effectiveness of this approach, and local minima can be avoided in advance in a great degree.
multi-robot market-driven social potential field ezploration local minima
Jie Zhao Xiangguo Su Jihong Yan
Robot Research Institute Harbin Institute of Technology Harbin,China
国际会议
长沙
英文
968-971
2009-04-11（万方平台首次上网日期，不代表论文的发表时间）