【作者】 李传恩；

【导师】 戴炬；

【作者基本信息】 山东科技大学 ， 电力电子与电力传动， 2004， 硕士

【摘要】 多机器人系统由于拥有单个机器人无法比拟的优点而受到了越来越多的重视和研究,基于多智能体系统来研究多机器人系统是大多数机器人学者采用的研究思路。本文在详细了解和研究多智能体系统的基础之上讨论并实现了一个多智能体机器人系统——KD-MARCS。 系统由四台Pioneer2智能移动机器人和若干台式电脑或笔记本电脑构成,整个系统被抽象成一个多层次智能体网络。在此基础上我们定义了一个复合通信模型和一个基于消息的通信协议。 我们提出了两种多机器人协同定位法来解决机器人的定位问题,一种是基于超声波传感器的协同定位,一种是基于摄像机+激光雷达的协同定位,前者简单易行但是精度不高,后者稍微复杂但是精度很高。 对于多机器人协作中的任务分配问题,我们采用了一个简化的英国拍卖模型,即第一价格、公开叫价、一轮协商的任务拍卖模型,并且实现了拍卖协议。我们提出并实现了一个分层任务结构的思想,用来表示各种不同的任务。 论文最后我们实现了系统的控制软件,并且进行了距离校正、搬运和推箱实验,实现结果表明基于摄像机和激光雷达的协同定位法能够对机器人精确定位,基于拍卖模型的任务分配方法能够有效的解决资源分配和机器人合理调度问题。更多还原

【Abstract】 Multi-robot system has been paid more and more attention and research because of its incomparable advantages over single robot. Studying based on the multi-agent system is a most adopted idea by robotic researchers. After detailed understanding and long-term study of multi-agent system, this thesis discussed and realized a multi-agent robot system, KD-MARCS.The system is composed of four pioneer2 robots and a few personal computers, the whole system can be seemed as a Hierarchical Agent Network. Then we defined a composite communication model and a message-based protocol.We presented two collaborative localization(CoLocalization) methods to solve the robot localization problem, one is based on the sonar ring, the other is based on the camera and laser range finder. The former has easy realization but poor precision, whereas the latter has a little more complexity but even high precision.As to the task allocation problem, we choosed a simplified "English Auction", that is, the highest price, public bid and once negotiation model to deal with the problem, and we presented the auction protocol. To describe different tasks, we presented and realized an idea of "Hierarchical Task Structure".At the end of the thesis, we brought out the system control software, and described a distance adjustment experiment, a delivery experiment and a push-box experiment. The results showed that the CoLocalization based on camera and laser range finder can provide high-precision localization, and the task allocation method based on the auction model could effectively solve the resource allocation problem and schedule the robots reasonably.更多还原