Earticle

초록

영어

To achieve efficient search performance for the multi-robot system which carries out the goal search task with consideration of timeliness, a multi-robot collaborative path planning system is designed to guide the robots during the search process. In the system, a planning method based on an Improved Ant Colony Optimization (IACO) algorithm is proposed. In the solution procedure, the path cost and goal timeliness are taken as two optimization goals. Compared to the traditional optimization algorithm, the IACO algorithm has global superiority which brings about better solution. Experiment results show that all robots accomplish the search task safely and efficiently by collaborative work using the proposed approach.

목차

Abstract
 1. Introduction
 2. System Architecture
  2.1. Task Allocation Layer
  2.2. Path Planning Layer
  2.3. Collaboration Control Layer
 3. Algorithm
  3.1. Mathematical Model
  3.2. IACO Algorithm
 4. Experiment
  4.1. Algorithm Test
  4.2. Multi-robot System Test
 5. Conclusion
 Acknowledgements
 References

키워드

저자

• Shuai Zhou [ Intelligent Vehicle Research Center,Beijing Institute of Technology and Key Laboratory of Biomimetic Robots and Systems, Ministry of Education 5 South Zhongguancun Street, Haidian District, Beijing,China ]
• GuangmingXiong [ Intelligent Vehicle Research Center,Beijing Institute of Technology and Key Laboratory of Biomimetic Robots and Systems, Ministry of Education 5 South Zhongguancun Street, Haidian District, Beijing,China ] Corresponding Author
• Yong Li [ Intelligent Vehicle Research Center,Beijing Institute of Technology and Key Laboratory of Biomimetic Robots and Systems, Ministry of Education 5 South Zhongguancun Street, Haidian District, Beijing,China ]
• Xiaoyun Li [ Intelligent Vehicle Research Center,Beijing Institute of Technology and Key Laboratory of Biomimetic Robots and Systems, Ministry of Education 5 South Zhongguancun Street, Haidian District, Beijing,China ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Smart Home

• 간기

  격월간

• pISSN

  1975-4094

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605