This paper is focused on the fully distributed cooperative motion of group robots and proposes a new approach. Each robot 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 reasonabiliiy 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 pipe robot is developed. The robotcan move in φ 20 mm pipe, and can carry a CCD camera for detecting cracks or fine holes on inner surface of pipe. Thevelocity of the robot can reach 17～22 mm/s for vertical pipe up/down, respectively. Moving principle and its perfor-mance characteristics are presented.
Sun Linzhi Luo Yi Zhang Yanan Sun Ping Qin Xinjie Gong ZhenbangPrecision Machinery Institute, Shanghai University, Shanghai 200072, China
