| 基于分布式控制系统的多机器人地图构建 |
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| 引用本文： | 罗元,李艳乐,张毅.基于分布式控制系统的多机器人地图构建[J].重庆邮电学院学报(自然科学版),2010(6). |
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| 作者姓名： | 罗元 李艳乐 张毅 |
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| 作者单位： | 重庆邮电大学智能系统及机器人研究所; |
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| 基金项目： | 重庆市自然科学基金计划项目(CSTC,2008BB2081)~~ |
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| 摘 要： | 针对目前多机器人构建地图的动态分区方法对机器人之间协作的限制问题,提出一种基于分布式控制系统的改进方法。该方法通过坐标转换把机器人的局部坐标信息转换到全局坐标中,利用Adhoc网络对信息进行传递,加强机器人间的协作关系。对信息进行汇总,利用栅格法构建地图。通过在机器人平台实验证明了该方法的可行性和有效性。
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| 关 键 词： | 多机器人 地图构建 Adhoc网络 分布式控制系统 |
Multi-robot map-building based on the distributed control system |
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| LUO Yuan,LI Yan-le,ZHANG Yi.Multi-robot map-building based on the distributed control system[J].Journal of Chongqing University of Posts and Telecommunications(Natural Sciences Edition),2010(6). |
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| Authors: | LUO Yuan LI Yan-le ZHANG Yi |
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| Institution: | LUO Yuan,LI Yan-le,ZHANG Yi(Research Center of Intelligent System , Robotics,Chongqing University of Posts , Telecommunications,Chongqing 400065,P.R.China) |
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| Abstract: | This paper focused on the constraints of the robot coordination of the dynamic partitioning method on the multi-robot map-building,and proposed an improved method based on distributed control system.It converted the information from the robot's local coordinates to global coordinates by means of coordinate transformation,and passes on the information using Ad hoc network to strengthen cooperative relations between the robots.It gathers the information and uses the grid method to build map.The experimental r... |
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| Keywords: | multi-robot map-building Ad hoc network distributed control system |
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