摘要
规划协作和自组织协作是两种比较常见的多机器人协作方式,前者规划精度高,但设计复杂,且系统鲁棒性不强,后者灵活性很强,但由于单个机器人自主性很强,因此,协作存在一定盲目性。该文为此提出了一个基于双令牌的多机器人自组织协作模型。模型中采用了具有两级策略评价标准的多机器人策略调整机制,通过双令牌来协调机器人之间的策略调整行为。设计了一个基于本文自组织模型的多机器人控制系统,进行了仿真实验验证。
Planning and self-organizing are two common approaches for multi-robot collaboration. The former is highly precise but complicated to realize and is poor in robustness. The latter is adaptive to environment, but its process is with a little blindness because individual robot makes decision independently. To reduce the blindness in self-organizing approach, this paper proposes a self-organizing model based on double token for multi-robot coordination. In this model, a robot strategy adjusting mechanism is designed, which uses a two-level standard to evaluate robot＇s strategy, and moreover a method of double token is used to coordinate the strategy adapting behaviors of robots. Simulation result demonstrates the effectiveness of this model by constructing a multi-robot control system based on the model.
出处
《计算机工程》
CAS
CSCD
北大核心
2007年第12期205-207,共3页
Computer Engineering
基金
国家自然科学基金资助项目(60405012)
关键词
多机器人
自组织
协作
双令牌
Multi-robot
Self-organizing
Collaboration
Double token
