| 机器人队形控制中的二叉树方法 |
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| 引用本文： | 张峰,王金超,陈雪波. 机器人队形控制中的二叉树方法[J]. 鞍山科技大学学报, 2010, 0(5) |
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| 作者姓名： | 张峰 王金超 陈雪波 |
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| 作者单位： | 辽宁科技大学电子与信息工程学院; |
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| 摘 要： | 研究了机器人编队及队形变换的二叉树方法,创建二叉树的基队形,由基队形变换得到如菱形、楔形、横线、纵线等队形。采用二叉树方法创建的基队形具有实现时间短、速度快、良好的稳定性和鲁棒性等特点,仿真时间约为0.058 658 s。由基队形变换得到的适用队形也具有相同的性质。
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| 关 键 词： | 机器人 队形控制 二叉树方法 队形变换 |
Binary tree method for multi-robot formation control |
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| ZHANG Feng,WANG Jin-chao,CHEN Xue-bo. Binary tree method for multi-robot formation control[J]. Journal of Anshan University of Science and Technology, 2010, 0(5) |
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| Authors: | ZHANG Feng WANG Jin-chao CHEN Xue-bo |
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| Affiliation: | ZHANG Feng,WANG Jin-chao,CHEN Xue-bo(School of Electronics and Information Engeering,University of Science and Technology Liaoning,Anshan 114051,China) |
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| Abstract: | The formation and the transformation method of binary tree is researched.Firstly,a basic formation is created by binary tree method,which is transformed to other formations,such as diamond,wedge,horizontal line,and longitudinal line formation.The creation of the basic formation by proposed binary tree method possesses the characteristics of short time and fast speed for realizations,good stability and robustness.The simulation time is about 0.058 658 seconds.The same characteristics also fit for other forma... |
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| Keywords: | robot formation control binary tree method formation transformation |
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