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计算机工程 ›› 2007, Vol. 33 ›› Issue (12): 205-207. doi: 10.3969/j.issn.1000-3428.2007.12.072

• 人工智能及识别技术 • 上一篇    下一篇

一种基于双令牌的多机器人协作策略研究

董炀斌,蒋静坪,何 衍   

  1. (浙江大学电气学院,杭州 310027)
  • 收稿日期:1900-01-01 修回日期:1900-01-01 出版日期:2007-06-20 发布日期:2007-06-20

Research of Double Token Based Collaborative Strategy for Multi-robot System

DONG Yangbin, JIANG Jinping, HE Yan   

  1. (College of Electrical Engineering, Zhejiang University, Hangzhou 310027)
  • Received:1900-01-01 Revised:1900-01-01 Online:2007-06-20 Published:2007-06-20

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。

关键词: 多机器人, 自组织, 协作, 双令牌

Abstract: 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.

Key words: Multi-robot, Self-organizing, Collaboration, Double token

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