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本文介绍了一种用来控制移动机器人组成链式网络并修复通讯连接的自适应分布式机器人合作算法。开发了单层链式伸展算法和双层链式伸展算法,使得移动机器人可以对开放式环境和受约束环境进行探索。还介绍了一种用于寻找最优通讯距离的综合化的方法。通过使用其测量结果,移动机器人系统可以组织成为优化的链式结构并进行伸展。这种伸展算法可以检测到网络中某个机器人节点的缺失,并重新配置系统。它为通讯连接的中断问题提供了一种自适应的解决方案。
This paper presents an adaptive distributed robotic cooperation algorithm that controls the formation of a chain network of mobile robots and repairs communication links. A single-layer chain extension algorithm and a double-layer chain extension algorithm have been developed to enable mobile robots to explore both open and constrained environments. Also introduced a comprehensive method for finding the optimal communication distance. By using its measurements, mobile robotic systems can be organized into an optimized chain structure and stretched. This extension algorithm detects the absence of a robot node in the network and reconfigures the system. It provides an adaptive solution to the disruption of communication connections.