翟敬梅, 李连中, 郭培森, 刘坤, 黄锦洲. 多机器人智能协同作业M2M2A系统设计与实验研究[J]. 机器人, 2017, 39(4): 415-422. DOI: 10.13973/j.cnki.robot.2017.0415
引用本文: 翟敬梅, 李连中, 郭培森, 刘坤, 黄锦洲. 多机器人智能协同作业M2M2A系统设计与实验研究[J]. 机器人, 2017, 39(4): 415-422. DOI: 10.13973/j.cnki.robot.2017.0415
ZHAI Jingmei, LI Lianzhong, GUO Peisen, LIU Kun, HUANG Jinzhou. Design and Experiment on M2M2A of Multi-Robot Intelligent Collaboration[J]. ROBOT, 2017, 39(4): 415-422. DOI: 10.13973/j.cnki.robot.2017.0415
Citation: ZHAI Jingmei, LI Lianzhong, GUO Peisen, LIU Kun, HUANG Jinzhou. Design and Experiment on M2M2A of Multi-Robot Intelligent Collaboration[J]. ROBOT, 2017, 39(4): 415-422. DOI: 10.13973/j.cnki.robot.2017.0415

多机器人智能协同作业M2M2A系统设计与实验研究

Design and Experiment on M2M2A of Multi-Robot Intelligent Collaboration

  • 摘要: 针对社会发展需求和当前技术现状,提出了一个在工业上能实现自适应环境、人机共融组织和智能决策的多机器人协同作业的M2M2A(man-or machine-to-machine to actuation)解决方案.首先设计了人、智能中心、机器人和传感器等所构成的多机器人作业系统的结构体系及其组织形式.设计了C/S(client/server)和P2P(peer-to-peer)混合式的M2M通信模型,由C/S模型实现人-机控制类和状态类信息的远程传输,由P2P模型实现机-机状态类信息的共享.研发了机器人自定位、作业环境感知、避障路径优化、轨迹规划和运动控制等智能模块,实现机器人自主作业的执行操作.数据流将通讯模块、智能决策及控制等各个模块有机融合在一起,构建了一个开放式、模块化的M2M2A系统.设计了一个典型的协同装配作业多机器人实验系统,通讯模块实现了作业环境信息、机器人位姿或位置信息的实时传输和共享,机器人智能模块可以根据作业环境的变化,自我协调各机器人的作业时序,自适应地重新规划各自的路径或作业轨迹,最优地完成下达的作业任务.

     

    Abstract: According to the social development requirements and the state-of-the-art technology, an M2M2A (man-or machine-to-machine to actuation) solution is proposed for multi-robot collaboration, which can implement environmental adaptability, man-machine integration and intelligent decision in industrial applications. Firstly, the structure and organization of multi-robot operating system consisting of humans, intelligent center, robots and sensors are designed. A hybrid M2M communication model of C/S (client/server) and P2P (peer-to-peer) is constructed, in which the C/S model can realize remote transmission of control commands and machine information between man and machines, and the P2P model can accomplish information sharing among those machines. A series of intelligent modules for robot self-localization, environment perceiving, collision-free path optimization, trajectory planning and motion control are developed to perform autonomous operation of robots. An open and modular M2M2A system is developed, in which the communication module, intelligent decision module and control module are integrated into collectives by datastream. A typical experimental system for multi-robot collaborative assembly is designed. By the communication module, the environmental information, the robot pose or position information can be transported or shared in real time. By the robot intelligent modules, the robots will reschedule their working time sequences, and then replan their paths or trajectories to optimally accomplish the task once the surrounding changes.

     

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