【作者】 李磊民； 刘刚；

【Author】 Li Leimin 1,Liu Gang 2 1.National School of Defense Technology,Southwest University of Science and Technology,Mianyang 621010,P.R.China 2.School of Information Engineering,Southwest University of Science and Technology,Mianyang 621010,P.R.China

【机构】 西南科技大学国防科技学院； 西南科技大学信息工程学院；

【摘要】 多机器人协作是当前机器人学和人工智能的研究热点之一。针对多机器人系统中的任务分配问题,提出一种基于集中式和分布式的金字塔式的混合控制结构,在机器人得到传感器信息的基础上,使用合同网协议来完成任务分配,最终实现多机器人协作。在player/stage仿真平台进行的多机器人跟踪和编队信息传输实验表明,多机器人系统能够有效地进行任务分配及协作,文中提到的解决方案是行之有效的。更多还原

【Abstract】 Multi-robot cooperation is one of hotspots in research on robotics and artificial intelligence currently.To solve the problem of task allocation in multi-robot system,a pyramid-like hybrid control architecture based on centralized control and distributed control is applied to accomplish multi-robot cooperation in task level.When robots received the information provided by sensors,the task was distributed according to Contract Net Protocol.Finally multi-robot cooperation was accomplished.The simulation of multi-robot tracking and formation experiments in player/stage platform showed that the algorithm is effective.更多还原