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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Implementation Studies of Robot Swarm Navigation Using Potential Functions and Panel Methods
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Implementation Studies of Robot Swarm Navigation Using Potential Functions and Panel Methods

机译：基于潜在功能和面板方法的机器人群导航实现研究

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摘要

This paper presents a practical swarm navigation algorithm based on potential functions and properties of inviscid incompressible flows. Panel methods are used to solve the flow equations around complex shaped obstacles and to generate the flowlines, which provide collision-free paths to the goal position. Safe swarm navigation is achieved by following the generated streamlines. Potential functions are used to achieve and maintain group cohesion or a geometric formation during navigation. The algorithm is implemented and tested through numerical simulations, as well as experimental implementations on real robots in a laboratory environment in two settings, in which the flowlines are calculated either offline or in real time. The algorithm is easy to implement and can serve as an effective tool for cohesive navigation of robotic swarms.
机译：本文提出了一种实用的基于无粘性不可压缩流的潜在函数和性质的群体导航算法。面板方法用于求解复杂形状障碍物周围的流动方程并生成流线，这些流线提供到目标位置的无碰撞路径。通过遵循生成的流线来实现安全的群体导航。潜在功能用于在导​​航过程中实现并保持组内聚或几何形状。该算法是通过数值模拟以及在实验室环境中的真实机器人在两种设置下的实验实现方式进行实施和测试的，其中流线是离线或实时计算的。该算法易于实现，可以作为机器人群凝聚导航的有效工具。

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