Abstract
基于多智能体系统理论，研究在确定环境下，面向任务的多机器人协调控制系统的实现原理、方法和技术，以及控制集成方法。开发了机器人协调控制的实验平台，对规划、控制、传感、通讯、协调与合作的各关键技术进行了开发和集成，完成了地面2个机器人的实时跟踪，三机器人的协调运动控制。通过实验研究使多机器人分布式协调技术的研究能够直接面向实际应用。
Based on the multi-agent system theory, studied the theory, method and technology of the multi-robot can he distributed coordination systems performing tasks in certain environment. Focusing on the fundamental theories and key technologies of multi robot distributed coordination systems. According to the robot contest, a full physical experimental system of the multi-robot system composed of three autonomous mobile robots is built. A number of key techniques have been developed and integrated such as distributed planning control, sensing communication, coordination and cooperation strategies etc. Two robots real tine track and multi robot coordinated movement control are completed. Using the real multi-robot experimental testing platform, the research faces the practical application problems directly.
Based on the multi-agent system theory, studied the theory, method and technology of the multi-robot can he distributed coordination systems performing tasks in certain environment. Focusing on the fundamental theories and key technologies of multi robot distributed coordination systems. According to the robot contest, a full physical experimental system of the multi-robot system composed of three autonomous mobile robots is built. A number of key techniques have been developed and integrated such as distributed planning control, sensing communication, coordination and cooperation strategies etc. Two robots real tine track and multi robot coordinated movement control are completed. Using the real multi-robot experimental testing platform, the research faces the practical application problems directly.
| Translated title of the contribution | Task Oriented Multi-robot Coordinated Movement Control |
|---|---|
| Original language | Chinese (Simplified) |
| Pages (from-to) | 117-120, 139 |
| Number of pages | 5 |
| Journal | 控制工程 = Control Engineering of China |
| Volume | 17 |
| Issue number | S1 |
| DOIs | |
| Publication status | Published - Jan 2010 |
| Externally published | Yes |
Funding
北京交通大学人才基金资助项目 (2009RC008)
Keywords
- 多机器人
- 协调与合作
- 实时跟踪
- 复杂环境
- 稳定性及鲁棒性
- multi-robot
- coordination and cooperation
- real time track
- stability and robustness