一种基于情绪量的多机器人冲突消解方法  

Multi-robot conflict resolution method based on quantification of emotion

作　　者：姜健[1] 闫继宏[1] 臧希喆[1] 赵杰[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,哈尔滨150001

出　　处：《计算机应用研究》2008年第7期2027-2028,2086,共3页Application Research of Computers

基　　金：国家"863"计划资助项目(2006AA04Z245);国家教育部长江学者和创新团队发展计划资助项目(IRT0423)

摘　　要：针对动态非结构化环境下多机器人之间存在的空间冲突问题,提出了一种基于情绪量的多机器人冲突消解方法。该方法可以使机器人根据情绪量自主判定对其他机器人的躲避半径,无须预先设定固定的避碰优先级或进行机器人之间的协商。仿真结果表明该方法是一种有效的多机器人冲突消解方法。To solve the spatial conflict problem of multi-robot systems in dynamic unstructured environment,presented a kind of multi-robot conflict resolution method based on quantification of emotion. The method could make robot decide its collision avoidance radius to other robots based on quantification of emotion. The method need not set fixed collision avoidance priority and need not execute negotiation between robots. Simulation experiment results show that the method is an effective method for multi-robot conflict resolution.

关 键 词：多机器人系统 情绪量 冲突消解 避碰 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]