大规模多移动机器人合作任务的分布自主协作系统

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

  • 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.

     

    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.

     

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