提出虚拟管流动度量化方法，提升机器人集群通行效率与安全
A Degree of Flowability for Virtual Tubes
- 基于最小能量原理定义二维虚拟管的流动度指标
- 提出计算方法并验证其在多种场景下的可行性
- 适合研究集群机器人路径规划与环境设计的研究者
随着机器人集群技术的快速发展，越来越多任务要求集群在复杂环境中安全高效地通过。虚拟管技术是一种实现该目标的新方法：虚拟管是连接两点的自由空间，为集群提供安全边界和运动方向。如何评估虚拟管的设计质量是一个基础问题。为此，本文根据最小能量原理，提出了二维虚拟管的流动度（DOF）度量方法，并给出了相应的计算方法及其可行性分析。通过在不同类型的二维虚拟管中进行机器人集群仿真，验证了所提计算方法的有效性。
原文摘要 · Abstract (English)
With the rapid development of robotics swarm technology, there are more tasks that require the swarm to pass through complicated environments safely and efficiently. Virtual tube technology is a novel way to achieve this goal. Virtual tubes are free spaces connecting two places that provide safety boundaries and direction of motion for swarm robotics. How to determine the design quality of a virtual tube is a fundamental problem. For such a purpose, this paper presents a degree of flowability (DOF) for two-dimensional virtual tubes according to a minimum energy principle. After that, methods to calculate DOF are proposed with a feasibility analysis. Simulations of swarm robotics in different kinds of two-dimensional virtual tubes are performed to demonstrate the effectiveness of the proposed method of calculating DOF.
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