基于多模式交互的多移动机器人分布式合作系统  

Distributed Cooperation for Multiple Mobile Robots Based on Multi-Modal Interactions

作　　者：陈卫东[1] 顾冬雷[1] 席裕庚[1] 

机构地区：[1]上海交通大学自动化研究所,上海200030

出　　处：《自动化学报》2004年第5期671-678,共8页Acta Automatica Sinica

基　　金：国家"863"计划(2001AA422140);国家自然科学基金(601)5005)资助~~

摘　　要：本文研究合作型多移动机器人系统的分布式控制方法.为了保证多机器人间合作的实时性和高效率,采用了一种分组策略,并提出了将局部感知和组内通信相集成的多模式机器人间交互方法.考虑到任务的复杂性和真实环境的非结构化特点,构建了将递阶规划技术与基于行为的反应式控制相结合的递阶混合式协调结构,并采用有限状态机模型实现了规划层与行为层的协调机制.合作垃圾清运的实验结果证明了上述方法的有效性.The distributed control method in cooperative multiple mobile robot systems is studied. A grouping strategy and a multi-modal interaction method based on local observation and explicit communication have been adopted to realize real-time and efficient inter-robot cooperation. Based on the finite state automata (FSA) model, a hierarchical and hybrid coordination architecture integrating high-level task planning and low-level reactive control has been proposed to complete complex tasks in unstructured real environments. Case study of multi-robot cooperative trash collection and experimental results demonstrate the validity of the scheme.

关 键 词：多移动机器人 合作 分布式控制 交互 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]