Abstract:The generation of cooperation behaviors is the key point of multi-robot motion cooperation. In this article a new algorithm is presented for multi-robot motion cooperation under known circumstance, in which CMAC neural networks are properly employed to proximate the complex function maps from motion behaviors to circumstance states, and a novel genetic algorithm innovated from conventional GA-rational genetic algorithm (RGA) is used for generation and optimization of motion behaviors purpose. In such a way the robustness and completeness of the algorithm are improved, and the time complexity lowered.
[1] Tucker Balch etc.behavior-based formation control for multi-robot teams.IEEE trans Robotics and automation,1998,14(6) [2] Hiroaki Yamaguchi.A cooperative hunting behavior by mobile robot troops.Int Journal of robotics research,1999,18(8) [3] Cao Y U etc.Cooperative mobile robotics: antecedents and directions.IEEE Inter Conf R & A,1995.226-234 [4] petr svestka,mark h overmars.Coordinated path planning for multiple robots.Robotics and autonomous systems,1998,23: 125-152 [5] yoshikazu arai etc.Collision avoidance in multi-robot systems based on multi layered reinforcement learning.Robotics and autonomous systems,1999,29: 21-32 [6] Enrico pagello etc.Coooperatimve behaviors in multi-robot systems through implict communication.Robotics and autonomous systems,1999,29: 65-77 [7] Carlo Ferrari etc.multirobot motion coordination in space and time.Robotics and autonomous systems,1998,25: 219-229 [8] 孙树栋等.基于遗传算法的多移动机器人协调路径规划.自动化学报,2000,26(5) [9] 景兴建,王越超,谈大龙.理性遗传算法及其在多机器人运动协调中的应用.自动化学报(已录用),2001,4 [10] Habib M K etc.Efficient method to generate collision free paths for autonomous mobile robot based on new free space structuring approach.Proc IEEE RSJ IROS,1991 [11] C Mirolo etc.Local geometric issues for spatial reasoning.1991 IEEE RSJ: 569-574 [12] E Prassleer etc.Navigating a robotic wheelchair in a railway station druing rush hour.Int Jour Robotics Research,1999,18(7) [13] 张乃尧等.神经网络与模糊控制.清华大学出版社,1999 [14] Barron A R.Approximation and estimation bounds for ANN.machine learning,1994,14 [15] S W Lee etc.CMAC netwrok based rotust controller for systems with friction.IEEE Conf Decision Contr,New Orleans,LA,1995