基于无线网络C/S模式的多机器人协调控制研究  

Research on coordinated control for multi-robot based on C/S model of wireless networks

作　　者：宋海涛[1] 张国良[1] 

机构地区：[1]第二炮兵工程学院,陕西西安710025

出　　处：《传感器与微系统》2009年第1期62-64,67,共4页Transducer and Microsystem Technologies

基　　金：陕西省自然科学基金资助项目(SJ08ZT067)

摘　　要：针对足球机器人比赛的需要,综合考虑比赛规则和机器人系统性能的优化,研究了多机器人的协调控制问题。基于无线网络C/S模式组建足球机器人系统的无线局域网。并提出利用服务器的协助决策功能,适时根据比赛情况进行球队队形和角色的动态选择,降低多机器人系统控制的复杂度,提高了球队的整体性能。实验结果证明了协调方案的有效性。Aiming to the requirement of the soccer robot game, the rules of game and the performance optimization of robot system are considered comprehensively. The coordinated control of multi-robot is researched. The wireless local area network is built up on the basic of C/S model. The server is proposed to help to make decision. The dynamic selection of orders and roles is duly done based on the states of game. This method of coordinated control reduces the complexity of control for multi-robot system, and thus improves the performance of team. The experiment results prove the validity of this method .

关 键 词：分布式控制 黑板结构 无线网络 多机器人 

分 类 号：TP393[自动化与计算机技术—计算机应用技术] TP242[自动化与计算机技术—计算机科学与技术]