Research on Architecture of Multiple Robots System Based on the Dynamic Networks

摘要：

To resolve the motion planning problem of multiple robots system, we present an improved architecture based on the dynamic robot networks. The presented architecture includes the group structure and the single robot structure. The group structure adopts the improved hierarchical structure, which can realize centralize coordination because it has the dynamic robot networks based on communication. This group architecture can be applied to the special situation such as earthquake and flood etc. Layered hybrid architecture for single robot is presented. It blends the advantages of the reactive architecture and the deliberative architecture and it increases a supervisory layer. The whole control architecture realizes not only autonomous motion of single robot but also cooperation of multi-robot systems.

关键词： Group architecture Single robot architecture dynamic robot network Motion planning

作者: Yanmin Lei Qidan Zhu Zhibin Feng

作者单位: Department of Automation Harbin Engineering University Harbin,Heilongjiang Province,China Department Harbin Engineering University Harbin,Heilongjiang Province,China Department of Electronic Information Engineering 2Changchun University Changchun,Jilin Province,Chin

会议类型: 国际会议

会议名称: 2010 IEEE信息与自动化国际会议(ICIA 2010)

会议地点: 哈尔滨

会议语种:英文

页码: 1-6

在线出版日期: 2010-06-20（万方平台首次上网日期，不代表论文的发表时间）