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
中图分类号:
董炀斌;蒋静坪;何 衍. 一种基于双令牌的多机器人协作策略研究[J]. 计算机工程, 2007, 33(12): 205-207.
DONG Yangbin; JIANG Jinping; HE Yan. Research of Double Token Based Collaborative Strategy for Multi-robot System[J]. Computer Engineering, 2007, 33(12): 205-207.