基于优度值评价的多机器人任务分配方法  

Superiority evaluation algorithm-based task allocation strategy of robot soccer systems

作　　者：黄波[1] 阎丽娜[1] 石杏喜[1] 赵春霞[1] 

机构地区：[1]南京理工大学计算机科学与技术学院,江苏南京210094

出　　处：《华中科技大学学报（自然科学版）》2010年第1期101-104,113,共5页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(60705020);高等学校博士学科点专项科研基金资助项目(20050288015);南京理工大学科技发展基金资助项目(XKF09072)

摘　　要：提出了一种基于Petri网建模与优度值评价的足球机器人任务分配与协调的方法.用优度评价法解决了系统局部冲突并实现了动态角色分配策略,采用Petri网方法对协调机制进行了模型性质分析及模型仿真运行.从理论上证明了方法的可行性,给出了系统的程序实现框架并进行了实验验证,实验结果证明了本方法的有效性.On the basis of Petri net and superiority evaluation algorithm, a robot soccer collaboration and task allocation method were proposed. The conflicts in the system could be avoided using the superiority evaluation algorithm and dynamic role allocation strategy. The Petri net model of collaboration mechanism of the robot system was analyzed through the simulation and the feasibility of the method is proved theoretically. The framework of realization of the system is also given and it has been tested by the program. The results show the practicability and validity of the method.

关 键 词：多机器人系统 PETRI网 任务分配 协作 评价规则 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]