基于有限资源的微小型多机器人协同避障策略

摘要

To provide a practical solution for the autonomous motion of multiple miniature robots with limited resources in un-known environment,a relative positioning system based on infrared sensors was designed incorporated with the extended Kalman filtering technique (EKF)for either obstacle detection or trajectory tracking of the robot.The obstacle avoidance of multi-robot system was resolved through the formation switching strategy.The hardware experimental results were presented to illustrate the performance of the proposed techniques.%为实现由低成本、资源有限、小体积机器人组成的多机器人系统在未知环境中的自主运动，设计一种基于简单传感器的相对定位系统，通过融合扩展卡尔曼滤波与运动补偿算法为机器人提供相邻机器人或者障碍物的相对位置信息。基于“领航者-跟随者”编队结构与机器人局部感知，实现微小型多机器人在未知障碍环境下的队形保持与队形变换。在真实实验环境中的实验结果验证了相对定位系统与协同策略的有效性。