A general-purpose application platform for multiple heterogeneous mobile robots

被引：0
|
作者：
Sun, Bo [1 ]
Chen, Weidong [1 ]
Xi, Yugeng [1 ]
机构：
[1] Shanghai Jiao Tong Univ, Inst Automat, Shanghai 200030, Peoples R China
来源：
DYNAMICS OF CONTINUOUS DISCRETE AND IMPULSIVE SYSTEMS-SERIES B-APPLICATIONS & ALGORITHMS | 2007年 / 14卷
关键词：
multi-robot; mobile robot; heterogeneous robot; general-purpose platform; hybrid architecture;
D O I：
暂无
中图分类号：
O29 [应用数学];
学科分类号：
070104 ;
摘要：
A general-purpose application platform is presented for planning, control and monitoring of heterogeneous mobile multi-robot teams. The hybrid architecture with hierarchical layers is designed for a multi-robot system (MRS) by combining the centralized task planning with the distributed motion control. It provides a solution to task reuse, task planning and hardware abstraction, which satisfies the cooperation of heterogeneous robots, especially robots with different sensors, operation systems and control software. Multi-robot formation experiments are demonstrated to verify the effectiveness and practicality of the proposed application platform.
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页码：89 / 96
页数：8
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