高技术通讯2011，Vol.21Issue(8)：842-847,6.DOI:10.3772/j.issn.1002-0470.2011.08.012
未知环境下基于意图推理的多机器人编队控制
Multi-robot formation control in unknown environments based on intention reasoning
摘要
Abstract
An approach for multi-robot formation control in unknown environments based on intention reasoning was designed. The approach adopts a finite memory least square multi-step recursive strategy to predict the motion of the leading robot and estimate the relevant information based on the local coordinate system of the following robot. The coordination among the robots is achieved with the existing formation control law and the tangent obstacle avoidance strategy. The designed approach has a good expansibility and the simulation results verified its feasibility.关键词
多机器人/意图推理/限定记忆多步递推/编队控制Key words
multi-robot/intention reasoning/finite memory multi-step recursion/formation control引用本文复制引用
杨丽,曹志强,周超,程龙,谭民..未知环境下基于意图推理的多机器人编队控制[J].高技术通讯,2011,21(8):842-847,6.基金项目
863计划(2006 AA04Z258)和国家自然科学基金(60805038,60725309)资助项目. （2006 AA04Z258）
