Coordination between autonomous robots

被引：8
|
作者：
Glorennec, PY
机构：
[1] Dept. Informatíque, INSA, Rennes
[2] INSA, Dept. Informatique, 35043 Rennes Cedex, 20, ave. des Buttes de Coesmes
来源：
INTERNATIONAL JOURNAL OF APPROXIMATE REASONING | 1997年 / 17卷 / 04期
关键词：
multirobot system; fixed-obstacle avoidance; mobile-robot avoidance; cooperation; fuzzy logic; mu GA; hierarchical control; knowledge exploitation;
D O I：
10.1016/S0888-613X(97)00004-2
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In a multirobot system, each robot can choose between two basic behaviors: obstacle avoidance and conflict resolution behaviors. A local supervisor (LS) is used to switch between the two behaviors. Coordination between robots is necessary to avoid collision: each robot communicates to the nearest robot one angular datum used fbr concerted trajectory modification. In our implementation, the parameters for the LS and the conflict resolution algorithm are encoded into an integer string and a micro-GA (mu GA) is used for optimization. (C) 1997 Elsevier Science Inc.
引用
收藏
页码：433 / 446
页数：14
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