Humanoid exploration method for formation multi-robot systems
Wang Fei-jun · Kongzhi yu juece · 2008
Imitating the human's exploring process under an uncertain environment,six rules of the humanoid explorting method of the multi-robot systems,the boundary rule,formation control rule,target-attracting rule,repetition-searching rule,path status rule and expansion-exploring rule,are presented to realize the target-searching mission of multiple robots.Based on the necessity of multi-robot cooperating and exploring with great efficiency,the robot's motion is controlled by the rule's fitness,which guarantees that multiple robots accomplish the multiple target-exploring mission together following their optimal paths.The optimal path planning for multiple robots is solved under global uncertain environment.Simulation results show the feasibility of the humanoid explorting method,and its every rule can be effective to control the multiple robots to explore the uncertain environment.