群机器人狭窄通道相遇问题的解决方法

对于群机器人狭窄通道相遇问题提出一种方法——最大有效时长法。该方法能够有效解决机器人死锁问题,并降低机器人的决策难度。与人工力矩控制器配合,能使机器人高效、迅速地通过狭窄通道到达目的地;并且方法简单、计算量少。最后,仿真结果证明能有效解决群机器人狭窄通道问题。

Solution To The Problem Of Swarm Robots Meet In The Narrow Channel

For the problem of swarm robots meet in the narrow channel, we propose a method - maximum effective duration method. It can effectively solve the deadlock problem of robot and reduce the difficulty of robot decision. And it match up with artificial moment method can drive the robot efficiently and rapidly go through the narrow channel and reach the destination. Otherwise, the method is simple and has less computation. At last, The simulation results show that the method can effectively solve the problem of swarm robots meet in the narrow channel.