Kooperierende Mobile Roboter Cooperating Mobile Robots
نویسنده
چکیده
Der Einsatz von Teams kooperierender mobiler Roboter ist erforderlich, wenn eine Aufgabe inhärent verteilt ist oder nicht von einem Roboter allein bewältigt werden kann. Auch wenn Aufgaben prinzipiell von Einzelrobotern erledigt werden können, kann der Einsatz mehrerer Roboter Vorteile bringen, da Roboterteams schneller, robuster und skalierbarer sein können. Bei der Steuerung kooperierender mobiler Robotern müssen vielfältige Ressourcenzuordnungsprobleme gelöst werden, beispielsweise die Aufgabenzuordnung oder die Zuordnung von Gebieten des Arbeitsraums. Im Artikel werden Kommunikationsund Kontrollarchitekturen, sowie Pfadplanungsund Lernverfahren diskutiert, die für Multi-Roboter-Systeme entwickelt wurden. Die mögliche Nützlichkeit kooperierender mobiler Roboter wird durch vier Anwendungsbeispiele illustriert.
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