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multi-robot mapping based on the adaptive differential evolution

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High Technology Letters 2013年第1期19卷 7-11页

作者：刘利枚 CaiZixing School of Information Science and EngineeringCentral South University School of Computer and Electronic EngineeringHunan University of Commerce

Map building by multi-robot is very important to accomplish autonomous navigation,and one of the basic problems and research hotspots is how to merge the maps into a single one in the field of multi-robot map building.A novel approach is put forward based on adaptive differential evolution to map building for the multi-robot *** multi-robot mapping-building system adopts the methods of decentralized exploration and concentrated *** adaptive differential evolution algorithm is used to search in the space of possible transformation,and the iterative search is performed with the goal of maximizing overlapping *** map is translated and rotated so that the two maps can be overlapped and merged into a single global one *** approach for map building can be realized without any knowledge of their relative *** results show that the approach is effective and feasibile.

关键词： differential evolution algorithm cooperative simultaneous localization and mapping map building multi-robot grid maps adaptive

Hybrid IWD-DE:A Novel Approach to Model Cooperative Navigation Planning for multi-robot in Unknown Dynamic Environment

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Journal of Bionic Engineering 2019年第2期16卷 235-252页

作者： Degal Chandrasekhar Rao Manas Ranjan Kabat Pradipta Kumar Das Prabir Kumar Jena Department of Information Technology VSSUTBurlaOdisha 768018India Department of Computer Science&Engineerings VSSUT、Burla Odisha 76801&India Department of Mechanical Engineering VSSUTBurlaOdisha 76801&India

The current study emphasizes inadequacies of earlier research findings on multi-robot navigation and offers a robust approach to guide the robots in an unknown dynamic *** attain the objective,the Intelligent Water Drop(IWD)algorithm is combined with Differential Evolution(DE)in a new conceptual fashion to optimize the navigation path of multiple mobile *** hybrid IWD-DE,basic IWD and DE algorithms are then explored for multi-robot navigation in a dynamic workspace through *** simulation outcomes demonstrate the competency of the proposed method to guide the robot in predicting the nature of the obstacle and to generate an optimal and safe trajectory in a dynamic *** potency of the proposed algorithm is further validated through experimentation with fire bird robot in a real *** outcomes of the simulation and experimentation,by employing IWD-DE algorithm are compared with those of basic IWD and DE *** error estimated for Average Navigation Path Travelled(ANPT),Aggregate Navigation Path Deviation(ANPD)and number of turns between simulation and experimental results by employing IWD-DE is 8.96,9.09,and 11.13,respectively while reaching 16.43,28.61,29.15 for IWD,and 6.66,10.20,14.28 for *** efficiency of the proposed approach is further verified with the state-of-the-art in a dynamic *** outcomes reveal the efficiency and flexibility of the proposed approach in resolving the multi-robot navigation problem as compared to the state-of-the-art in a dynamic workspace.

关键词： multi-robot dynamic environment intelligent water drop differential evolution navigation planning waypoints fire bird robot

A Survey of multi-robot Regular and Adversarial Patrolling

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IEEE/CAA Journal of Automatica Sinica 2019年第4期6卷 894-903页

作者： Li Huang MengChu Zhou Kuangrong Hao Edwin Hou IEEE the Engineering Research Center of Digitized Textile and Apparel Technology Ministry of Educationand the College of Information Science and TechnologyDonghua UniversityShanghai 201620China the Department of Electrical and Computer Engineering New Jersey Institute of TechnologyNewarkNJ 07032 the Institute of Systems Engineering Macao University of Science and TechnologyMacao 999078China

multi-robot systems can be applied to patrol a concerned environment for security *** to different goals,this work reviews the existing researches in a multi-robot patrolling field from the perspectives of regular and adversarial *** patrolling requires robots to visit important locations as frequently as possible and a series of deterministic strategies are proposed,while adversarial one focuses on unpredictable robots’moving patterns to maximize adversary detection *** each category,a systematic survey is done including problem statements and modeling,patrolling objectives and evaluation criteria,and representative patrolling strategies and *** problems and open questions are presented accordingly.

关键词： multi-robot systems regular patrolling adversarial patrolling coordination methods surveillance

multi-robot Formation Control and Simulation

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Multi-Robot Formation Control and Simulation

multi-robot exploration mission planning and stochastic increment replanning for load balance

第25届中国控制与决策会议

作者： Wu Lijuan Wang Hui University of Science and Technology Liaoning School of Electronic and Information Engineering

ISBN: (纸本)9781467355339

To multi-robot control problems, this paper based on Leader - Follower dynamic model, uses linearization technique to design velocity controller for transforming the nonlinear system into a linear system, the formation control problem is transformed into robot tracking problem, with feedback relative distance and angle between Follower and Leader to control velocity. In the moving process to target point, the shape of formation should be maintained, but for avoid obstacle the whole formation can shrink or amplify in scale, or change the leader temporary. The Matlab7.8.0 simulation result indicated the method can reduce the control complexity, possess better robustness and stability in proceeding formation control problem.

关键词： multi-robot formation control Matlab7.8.0

来源： cnki会议评论

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Frontiers of Electrical and Electronic Engineering in China 2010年第2期5卷 154-162页

作者： Lingli YU Zixing CAI School of Information Science&Engineering Central South UniversityChangsha 410083China

multi-robot mission planning is composed of assignment allocation and mobile-robot route planning in this ***-robot exploration missions adopts fuzzy c-mean(FCM)algorithm to allocate,and then,heterogeneous interactive cultural hybrid algorithm(HICHA)is devised for route planning in order to optimize mobilerobot execution ***,we design multi-robot mission replanning mechanism based on the rules system of greedy algorithm for dynamic stochastic increment ***,extensive simulation experiments were shown that FCM for assignment allocation and HICHA for route planning were efficacious for mobile-robot exploration mission ***,the improved greedy algorithm based on experience rules met dynamic stochastic increment missions replanning requirement for load balance.

关键词： multi-robot mission planning heterogeneous interactive cultural hybrid algorithm(HICHA) replanning

Collaborative task planning for an internet based multi-operator multi-robot system

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Journal of Harbin Institute of Technology(New Series) 2005年第2期12卷 153-158页

作者：高胜赵杰蔡鹤皋 robot Research Institute Harbin Institute of Technology Harbin 150001 China

In an Internet based multi-operator and multi-robot system (IMOMR), operators have to work collaboratively to overcome the constraints of space and time. Inherently, the activities among them can be defined as a computer-supported cooperative work (CSCW). As a practical application of CSCW, a collaborative task planning system (CTPS) for IMOMR is proposed in this paper on the basis of Petri nets. Its definition, components design, and concrete implementation are given in detail, respectively. As a result, a clear collaboration mechanism of multiple operators in an IMOMR is obtained to guarantee their task planning.

关键词： Internet multi-operator multi-robot CSCW task planning Petri nets precedence graph

Static workspace analysis of a multi-robot collaborative towing system with floating base

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International Journal of Modeling, Simulation, and Scientific Computing 2021年第2期12卷 66-79页

作者： Cheng Su Jinghang Li Wangcai Ding Zhigang Zhao School of Mechatronic Engineering Lanzhou Jiaotong University Lanzhou Gansu730070P.R.China

The static workspace of the multi-robot collaborative towing system with floating base was *** spacial configuration of the system was built,and the system was divided into three types according to the *** kinematic and dynamic models of the floating base and the towing system were established,respectively,by using the Newton-Euler *** the static workspace of the system was analyzed,and the specific steps to solve the workspace with the improved Monte Carlo method were ***,the static workspaces of three types of systems were solved though actual simulation calculation,the simulation results show that the improved Monte Carlo method can get a workspace with higher precision compare to the traditional Monte Carlo *** of this study lay a basis for the subsequent trajectory plan,stability analysis and configuration optimization of the system.

关键词： multi-robot cable-driven Monte Carlo method workspace simulation

Internet based design of distributed virtual environment for multi-robot teleoperation

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Journal of Harbin Institute of Technology(New Series) 2006年第1期13卷 99-105页

作者：高胜赵杰蔡鹤皋 School of Mechanical Science and Engineering Daqing Petroleum Institute Daqing 163318 China robot Research Institute Harbin Institute of Technology Harbin 150001 China

Studies the design of distributed virtual environments （DVEs） for tele-multi-robotics. The proposed design, incorporating two models （ distributlon-supported model and VE-supported model）, attempts to represent common functionality, communication issues, and requirements found in multi-operator DVEs. The distribution-supported model concentrates on the introduction of computer-supported collaborative work （CSCW） to realize the coordination of multi-operators, while the VE-supported model concentrates on the utilization of an object-oriented approach to strengthen the expandability and robustness of the system. Finally, the configuration anti running environments of the system are given.

关键词： multi-robot Internet distributed virtual environment CSCW object oriented Java/Java3D

Genetic Algorithm Based Combinatorial Auction Method for multi-robot Task Allocation

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Journal of Beijing Institute of Technology 2007年第2期16卷 151-156页

作者：龚建伟黄宛宁熊光明满益明 School of Mechanical and Vehicular Engineering Beijing Institute of Technology

An improved genetic algorithm is proposed to solve the problem of bad real-time performance or inability to get a global optimal/better solution when applying single-item auction （SIA） method or combinatorial auction method to multi-robot task allocation. The genetic algorithm based combinatorial auction （GACA） method which combines the basic-genetic algorithm with a new concept of ringed chromosome is used to solve the winner determination problem （WDP） of combinatorial auction. The simulation experiments are conducted in OpenSim, a multi-robot simulator. The results show that GACA can get a satisfying solution in a reasonable shot time, and compared with SIA or parthenogenesis algorithm combinatorial auction （PGACA） method, it is the simplest and has higher search efficiency, also, GACA can get a global better/optimal solution and satisfy the high real-time requirement of multi-robot task allocation.

关键词： multi-robot task allocation combinatorial auctions genetic algorithm