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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Tuan-Jie Li Gao-Wei Yuan Fei-Jun Wang |
| Copyright Year | 2009 |
| Description | Author affiliation: School of Electormechanical Engineering, Xidian University, Xi'an, China (Tuan-Jie Li; Gao-Wei Yuan; Fei-Jun Wang) |
| Abstract | To control multi-robot exploring many targets in an unknown environment, the behavior control method should be set up. This paper presents six behavior control rules which contain searching rule along boundary, tracking target rule, avoiding repeatedly exploring rule, route choosing rule, maximizing explored area rule and obeying traffic regulation rule. The traffic regulations presented herein contain two solutions to avoid collision for robots' heading actions or cross actions, which can enhance the probability of robots' collision avoidance. The six behavior control rules are not pure independence, but with some correlations. When we establish the control model of multiple robots, the behavior correlation analysis is considered based on the linear weighted summation evaluation function, to enhance robots collaborative efficiency. The particle swarm optimal (PSO) algorithm is used to solve the behavior control model. The simulation result shows the behavior control method presented in the paper can effectively control the multiple robots disposing the multiple targets and avoiding collision. |
| Starting Page | 1877 |
| Ending Page | 1882 |
| File Size | 754270 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424427994 |
| DOI | 10.1109/ICIEA.2009.5138529 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-05-25 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Robot control Robot kinematics Collision avoidance Multirobot systems Mobile robots Service robots Traffic control Particle swarm optimization Optimal control Motion planning particle swarm optimal lgorithm unknown environment behavior control collision avoidance correlation analysis |
| Content Type | Text |
| Resource Type | Article |
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