Title

多机器人协作探索的改进市场法

Translated Titles

Improved market-based Approach to Collaborative multi-robot Exploration

Authors

张飞(Fei Zhang);陈卫东(Wei-Dong Chen);席裕庚(Yu-Geng Xi)

Key Words

多机器人 ; 协作探索 ; 市场法 ; 数据融合 ; multi-robot ; collaborative exploration ; market-based approach ; data fusion

PublicationName

控制與決策

Volume or Term/Year and Month of Publication

20卷5期(2005 / 05 / 01)

Page #

516 - 520

Content Language

簡體中文

Chinese Abstract

针对提高机器人对未知环境的探索效率需要通过协商来解决多个机器人之间的任务分配问题,提出了改进市场法。该方法利用机器人提交的标的信息,采用数据融合方法更新其他机器人的本地地图,在连通条件下计算原先无法计算的花费,而且未增加额外的通信量。另外,还提出用目标点切换率这一新指标来衡量机器人之间的协作程度。仿真实验结果验证了改进算法优于原先的市场法,并说明了该算法适用的环境。

English Abstract

The problem of exploring unknown environments of multi-robot exploration is discussed. Market-based approach is improved and used to update the local maps by data fusion method and compute costs in the condition of connection, while it does not add the extra communication. A new performance metric, target point exchanged ratio (TPER) is proposed, to reflect the degree of collaboration. The simulationd results show that the method is better than original market-based approach, and the proper environments are analyzed.

Topic Category 基礎與應用科學 > 資訊科學
工程學 > 機械工程
工程學 > 電機工程