基于多智能体的多机器人控制研究  

Research on Multi-robot Control Based on Multi-agent

作　　者：陈励华[1] 张国良[1] 曾静[1] 宋海涛[1] 

机构地区：[1]第二炮兵工程学院,710025

出　　处：《微计算机信息》2009年第23期180-181,170,共3页Control & Automation

基　　金：陕西省自然科学基础研究计划项目(SJ08ZT06);第二炮兵工程学院创新性探索研究项目

摘　　要：多机器人控制是目前机器人研究的关键问题,本文以足球机器人为研究平台,首先讨论多智能体系统的组织结构和智能体的体系结构;然后,基于多智能体理论,组建多机器人系统,提出一种适用性广泛的多机器人协作控制方案,主智能体和辅助智能体相互协作,降低多机器人系统控制的复杂度,提高了控制效率。实验结果证明该协作控制方案的优越性。Recently, the muhi-robot control is the key problem of robot research. In this paper, the soccer robot is treated as the research platform. Firstly, the structures of multi-agent system and agent are discussed. Then based on the theory of multi-agent, the multi-robot system is built. A coordinated control method for multi-robot with widespread applications is presented. The main Agent and the secondary Agent cooperate with each other. The complexity of control for multi-robot system is reduced, and the control efficiency is improved. The experiment results prove the superiority of this coordinated control method.

关 键 词：多智能体 多机器人系统 协作控制 分布式结构 

分 类 号：TP393[自动化与计算机技术—计算机应用技术] TP24[自动化与计算机技术—计算机科学与技术]