宋梅萍, 顾国昌, 张汝波. 多移动机器人协作任务的分布式控制系统[J]. 机器人, 2003, 25(5): 456-460.
引用本文: 宋梅萍, 顾国昌, 张汝波. 多移动机器人协作任务的分布式控制系统[J]. 机器人, 2003, 25(5): 456-460.
SONG Mei-ping, GU Guo-chang, ZHANG Ru-bo. DISTRIBUTED CONTROL SYSTEM FOR THE COOPERATIVE TASK OF MULTI-MOBILE ROBOTS[J]. ROBOT, 2003, 25(5): 456-460.
Citation: SONG Mei-ping, GU Guo-chang, ZHANG Ru-bo. DISTRIBUTED CONTROL SYSTEM FOR THE COOPERATIVE TASK OF MULTI-MOBILE ROBOTS[J]. ROBOT, 2003, 25(5): 456-460.

多移动机器人协作任务的分布式控制系统

DISTRIBUTED CONTROL SYSTEM FOR THE COOPERATIVE TASK OF MULTI-MOBILE ROBOTS

  • 摘要: 本文以多移动机器人协作执行围捕任务为背景,探讨了多机器人系统行为层规划及任务层中的任务分解和分配问题,提出了一种能有效降低计算量的编队中子任务的分配方法.为多移动机器人提供了一种在不确定环境中,动态变化的协作任务下进行基于传感器信息和通信信息的在线路径规划的方法.

     

    Abstract: In this paper,the way of action planning and task decomposition and assignment is discussed,and a effectively novel method for task decomposition in formation is presented.A path planning method based on sensor information and communication information is presented for "pursuit evasion" game,which calls dynamic task according to dynamic unknown environment.

     

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