机器人班组的自组织递阶控制  

SELF-ORGANIZING HIERARCHICAL CONTROL FOR ROBOT TEAMS

作　　者：高为炳[1] 

机构地区：[1]北京航空航天大学第七研究室

出　　处：《自动化学报》1994年第3期257-264,共8页Acta Automatica Sinica

摘　　要：研究了机器人班组在执行各种任务时的协调控制．由于机器人班组是由多个能力有限的机器人组成的，被操作的对象可以是一个刚体、柔性体或机械系统，而且需要跟踪的运动也可以是各种各样的，所以整个系统是相当复杂的．这样的机械系统，按其力学性质可以将要实现的控制任务加以分解，从而实现递阶控制，各层的控制只完成被分解出来的特定的较简单的任务，而各机器人之间的协调由自组织算法自动完成．The coordinated control for robot teams in performing tracking tasks is studiedin this paper. Owing to the fact that a robot team is consisted of robots withlimited abilities, the peformed object which may be rigid body, flexible body or amechanical system, and the tracked motion which may be various, so the overall stem is considerably complex. For such mechanical system, according to the mechanical properties of the system, the control task to be realized can be decomposed, andin consequence construct hierarchical architecture to the control. Therein each layerin the hierarchy is decomposed isolately to achieve simpler specific tasks. The ordination among the subtasks of the robots is achieved by self--organizing algorithmsautomatically.

关 键 词：机器人 递阶控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]