This paper is focused on the fully distibuted cooperative motion of group robots and proposes an approach. Each robots has a local sensing ability and a simple action selection strategy. Computational complexity is decreased by the fully distributed architecture and the information insufficiency is solved by the interaction between the robots and the environment. Variable loop and random method are used to deal with the fluctuation and equity selection problem and the rapidity and reasonability are guaranteed. Some simulations have proved the effectiveness of the proposed approach.
Dong Shenglong, Chen Weidong & Xi YugengInstitute of Automation, Shanghai Jiaotong University, 200030, P.R. China (Received March 9,2001)
An experimental bimorph piezoelectric element (PZT) actuator for small piperobot is developed. The robot can move in φ20 mm pipe, and can carry a CCD camera for detectingcracks or fine holes on inner surface of pipe. The velocity of the robot can reach 17～22 mm/s forvertical pipe up/down, respectively. Moving principle and its performance characteristics arepresented.
Sun Linzhi Luo Yi Zhang Yanan Sun Ping Qin Xinjie Gong ZhenbangPrecision Machinery Institute, Shanghai University, Shanghai 200072, China
