一种基于行为效用理论的多移动机器人编队协调方法

AN APPROACH TO FORMATIONS OF MULTIPLE MOBILE ROBOTS COORDINATION BASED ON PRAXEIC UTILITY THEORY

  • 摘要: 本文提出了一种基于行为效用理论的多移动机器人编队协调方法,用于解决多移动机器人编队初始化问题,实现自治的多移动机器人按特定的空间结构进行编队以完成特定的任务.我们对编队问题协调控制策略和算法进行了研究,给出了行为效用方程及两个衡量值,并针对编队问题的协调控制过程中目标点重复决策问题及偏远目标的选择问题进行了探讨并给出了相应的改进协调方案,计算机仿真试验验证了本文所提方法的有效性和可行性.

     

    Abstract: In this paper we propose an approach to formations of multiple mobile robots coordination based on praxeic utility theory. We show that praxeic utility theory is a viable solution to solve formation initialization problem, in which autonomous and coordinating mobile robots can arrange themselves in a specific spatial configuration to implement the tasks. We research mainly on control strategies and algorithm of formation coordination and present praxeic utility equations and two functions. Various extensions to the utility functions, which improve performance through knowledge of past decisions, is presented computer simulation shown that the approach is effective and feasible by the simulation of computer.

     

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