大规模多移动机器人合作任务的分布自主协作系统

祖丽楠; 田彦涛; 梅昊

大规模多移动机器人合作任务的分布自主协作系统

吉林大学控制科学与工程系,吉林,长春,130025

详细信息

作者简介:
祖丽楠（1979- ），女，博士生．研究领域：多机器人协作系统，任务规划，学习．
田彦涛（1958- ），男，教授，博士生导师．研究领域：分布式智能系统与移动机器人控制，复杂系统建模、优化与控制，主动机器视觉与视觉伺服等．

中图分类号: TP24
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出版历程
- 收稿日期: 2005-11-29
- 发布日期: 2006-09-14

Distributed Autonomous Cooperation System for the Large-scale Cooperation Task of Multiple Mobile Robots

Department of Control Science and Engineering, Jilin University, Changchun 130025, China

摘要

摘要: 以大规模多移动机器人觅食任务为背景，探讨了在分布式协作体系结构下系统任务级的协作与行为级的协调问题．提出了一种动态任务分配机制，在缩短任务完成时间的基础上减少了系统通信量并解决了任务死锁问题．同时，设计了一种基于预测的冲突消解方法，使机器人能够对动态障碍物进行精确避障．最后，通过仿真实验验证了上述方法的有效性．
- 协作 /
- 任务分配 /
- 运动协调 /
- 冲突消解
Abstract: Based on the large-scale multi-robot foraging mission,task cooperation and action coordination problems are discussed under the distributed cooperation architecture.A dynamic task allocation mechanism is presented which reduces communication traffic and resolves the problem of task deadlock on the basis of shortening task completion time.Then,a predition-based conflict-resolution approach is proposed which makes robots avoid dynamic obstacles accurately.Finally,simulation experiments testify the validity of the presented algorithms.
- cooperation /
- task allocation /
- motion coordination /
- conflict resolution

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参考文献(15)

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文章访问数: 35
HTML全文浏览量: 1504
PDF下载量: 510
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大规模多移动机器人合作任务的分布自主协作系统

计量

出版历程

Distributed Autonomous Cooperation System for the Large-scale Cooperation Task of Multiple Mobile Robots

计量

出版历程

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