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我们开发了一种分散化算法,来协调一组移动机器人搜索未知瞬时射电源。除了移动能力和通信及传感范围有限,机器人团队还必须应对信号源匿名性、短暂的传输时间和可变的发射功率带来的挑战。我们提出了一种两步式方法:首先,基于检查站的同步功能,对机器人用于追踪信号源位置的可信度函数进行了分散化;其次,提出了一种用于协调机器人的分散化规划策略,以确保存在检查站。我们分析了该算法的内存使用情况、通信数据量和搜索时间。实现了该算法,并将其与其他两种探索式算法进行了比较。实验结果显示,在三种算法中,分散化算法用最少的内存换来了最快的搜索时间。
We developed a decentralized algorithm to coordinate a group of mobile robots to search for unknown instantaneous radio sources. In addition to limited mobility and limited range of communications and sensing, robotics teams must also address the challenges posed by signal-source anonymity, transitory transmission times, and variable transmit power. We propose a two-step approach: Firstly, we decentralize the credibility function of the robot to track the position of the signal source based on the synchronization function of the checkpoint. Secondly, we propose a decentralized approach to coordinate the robot Plan strategies to ensure the existence of checkpoints. We analyzed the memory usage of the algorithm, the amount of communication data, and the search time. The algorithm is implemented and compared with two other exploratory algorithms. Experimental results show that in the three algorithms, decentralized algorithm in exchange for the fastest memory with the fastest search time.