【作者】 蒋莹；

【导师】 肖晓明；

【作者基本信息】 中南大学 ， 控制科学与工程， 2008， 硕士

【摘要】 机器人技术的发展使得机器人的能力不断提高,其应用的领域和范围正不断扩展。人们希望多个机器人能完成由单一机器人难以完成的更加复杂的作业。这些复杂的作业,需要多个机器人相互协调与协作共同完成,因此对多机器人协调系统的研究就显得非常重要。多机器人进行目标点探测有着广泛的应用。文章围绕多机器人协调探测多目标点这一任务进行展开。文中首先介绍了多机器人的体系结构,并在此基础上重点研究了多机器人任务分配方法和避碰方法。文章主要工作如下:对多机器人任务分配方法的研究方面,多目标点探测首先用组合拍卖的方法来获得有效的目标集合,然后对这些目标集合中各目标点探测的任务分配方法是用改进的蚁群算法来实现的。所以文中提出了一种基于改进蚁群算法的多机器人的任务分配方法。该方法通过对蚁群算法的改进,具体包括:多个机器人同时并行搜索、信息素的更新和局部搜索算法的改进成功实现了多个机器人进行多目标探测的任务分配方法。最后仿真实现了多个机器人探测目标点的任务分配方法。结果表明该方法的有效性和正确性。在多机器人执行任务的过程中,可能会发生路径的交叉现象。路径的交叉是导致机器人碰撞发生的原因。为了解决多机器人的避碰问题,文中提出了一种基于运动规划的多机器人协调避碰方法。该方法通过问题描述、模型建立、交通规则和优先权设计等来实现了冲突区域的资源分配,即多机器人的协调避碰方法。最后通过实验验证了该方法的可行性。更多还原

【Abstract】 With the development in robotics system, the capability of robot is improved ceaselessly and its application field has been extended. Robots are being expected to do more complex task which can’t be accomplished by a single robot. Obviously, these tasks need coordination and cooperation among multiple robots to finish. So it is important to study multi-robots cooperation system. The detecting of multi-targets by multi-robots has extensive use.This dissertation takes the task of detecting multi-targets cooperatively with multi-robots as center. Firstly, introduce the architecture of multi-robot system, and then mainly research the task allocation and collision avoidance method of multi-robots. The main contribution and work are described as following:In the research of the task allocation method of multi-robots, first we can use the combinational auction to gain the efficient target sets, use the improved ant system algorithm to detect those target sets. So I propose a task allocation method of multi-robots based on the improved ant system algorithm. The proposed methods include multi-robots parallel searching simultaneously, renew the pheromone, and improve the local search algorithm. At last, realizes the task allocation method of multi-targets detecting by multi-robots through simulation. The results show the validity and correctness of the proposed method.In the process of robots perform task, there may be exist the phenomenon of crossing path, and the crossing path is the main reason for the collision happens in multi-robots. In order to solve the collision avoidance problem of multi-robots, this dissertation propose a coordination collision avoidance method of multi-robots based on the movement planning. By problem statement, model building, the design of the traffic rules and the design of priority, etc, to realize the resource allocation in conflict region, that is, the collision avoidance problem of multi-robots. The simulation results show the proposed method is feasible.更多还原