| 多机器人系统连通性主动控制研究 |
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| 引用本文： | 王晓明,江慧.多机器人系统连通性主动控制研究[J].华东交通大学学报,2012(4):24-28. |
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| 作者姓名： | 王晓明 江慧 |
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| 作者单位： | 1. 华东交通大学轨道交通学院,江西南昌330013
2. 上海师范大学信息与机电工程学院,上海200234 |
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| 基金项目： | 华东交通大学科研课题（09111118） |
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| 摘 要： | 对于分布式多机器人系统,保持通讯的连通性是非常重要的.本文提出了一种无线传感器网络环境下多机器人系统建立连通性的算法,解决了初始状态不连通的多机器人系统如何通过无线传感器网络建立连通关系,最后形成直接连通的多机器人网络.仿真结果表明算法高效可靠,适用于复杂环境下多机器人自主组网
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| 关 键 词： | 多机器人系统 通讯连通性 最短路径 |
Research on Active Control of Multi-robot System Connectivity |
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| Wang Xiaoming,Jiang Hui.Research on Active Control of Multi-robot System Connectivity[J].Journal of East China Jiaotong University,2012(4):24-28. |
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| Authors: | Wang Xiaoming Jiang Hui |
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| Institution: | 1. School of Railway Tracks and Transportation, East China Jiaotong University, Nanchang 330013, China; 2. College of Informa- tion, Mechanical and Electronic Engineering, Shanghai Normal University, Shanghai 200234, China) |
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| Abstract: | It is very important to maintain communicative connectivity for distributed multi-robot system. This paper proposed an algorithm for establishing connectivity of the multi-robot system in wireless sensor networks, which solved the problem conceming how to establish connectivity through wireless sensor networks for the multi-robot system whose initial state was not connected, and thus formed a direct connected multi-robot net- work. Simulation results showed that the algorithm was efficient and reliable, which made it applicable for multi-robot to establish connectivity autonomously in complex environments. |
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| Keywords: | multi-robot system communicative connectivity the shortest path |
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