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首页> 外文会议>Mediterranean Conference on Control and Automation >Decentralized reactive navigation for densest sweep coverage of corridor environments by swarms of non-holonomic robots *
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Decentralized reactive navigation for densest sweep coverage of corridor environments by swarms of non-holonomic robots *

机译：非全身机器人群体的分散式反应导航走廊环境的长度扫描覆盖*

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摘要

A swarm of non-holonomic Dubins-car like robots has to autonomously organize itself into a densest net over a cross-section of a corridor environment. Then the swarm has to keep this formation, while moving along the corridor with a pre-specified speed. Any robot measures its own speed and, in its local frame, has access to the relative locations of the objects within a finite sensing range. The robots do not differentiate the peers, are unaware of the swarm’s size and corridor’s width, do not carry communication facilities and cannot play distinct roles in the team. A computationally inexpensive, decentralized and distributed control strategy is presented that solves the mission. The performance of the proposed algorithm is justified via a mathematically rigorous global convergence result for the corridors with straight parallel walls and is demonstrated via computer simulation tests for a variety of more intricate cases.
机译：一群非正度碳金斯汽车等机器人必须在走廊环境的横截面上自主地将自己组织成更密集的网。 然后，群体必须保持这种形成，同时沿着走廊移动预先指定的速度。 任何机器人都可以测量自己的速度，并且在其本地框架中，可以访问有限感测范围内对象的相对位置。 机器人没有区分同行，没有意识到群体的尺寸和走廊的宽度，不携带通信设施，不能在团队中发挥独特的角色。 提出了计算的计算廉价，分散和分布式的控制策略，解决了使命。 所提出的算法的性能是通过具有直平行壁的走廊的数学上严格的全球收敛结果，通过计算机模拟测试来证明各种更复杂的情况。

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