RESEARCH ON TEAM FORMATION SYSTEM OF MULTI-ROBOT WITH ADAPTABILITY TO THE ENVIRONMENT
ZHANG Ru-bo1,2, WANG Jing1, SUN Shi-liang3
1. School of Computer Science and Technology, Harbin Engineering University, Harbin 150001, China; 2. Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 100015, China; 3. Department of Computer Science, Jinan University,Zhuhai 519000,China
张汝波, 王兢, 孙世良. 具有环境自适应能力的多机器人编队系统研究[J]. 机器人, 2004, 26(1): 69-73..
ZHANG Ru-bo, WANG Jing, SUN Shi-liang. RESEARCH ON TEAM FORMATION SYSTEM OF MULTI-ROBOT WITH ADAPTABILITY TO THE ENVIRONMENT. ROBOT, 2004, 26(1): 69-73..
Abstract:In this paper,the architecture of multi-robot system is studied. Then the space-time table is combined with the time-controller to solve the problems of multi-robot cooperation and coordination. For the peculiarity of team formation,an environment-based learning method is proposed to enable the system of robot team formation to have stronger adaptability to the environment. Finally,the feasibility of all algorithms are verified by simulation tests.
[1] 王越超,谈大龙.协作机器人学的研究现状与发展[J].机器人,1998,20(1):69-75. [2] 陈卫东,董胜龙,席裕庚.基于开放式多智能体结构的分布式自主机器人系统[J].机器人,2001,23(1): 45-50. [3] Balch T,Arkin R C.Behavior-based formation control for multi-robot teams[J].IEEE Transactions on Robotics and Automation,1999,1(10): 1-15. [4] 王兢.水下机器人编队系统研究[D].哈尔滨: 哈尔滨工程大学,2003.