协作多机器人系统研究进展综述  

A survey of recent advances in cooperative multi-robot systems

作　　者：吴军[1] 徐昕[1] 连传强[1] 贺汉根[1] 

机构地区：[1]根国防科技大学机电工程与自动化学院,湖南长沙410073

出　　处：《智能系统学报》2011年第1期13-27,共15页CAAI Transactions on Intelligent Systems

基　　金：国家自然科学基金资助项目(60774076,60703072,90820302)

摘　　要：协作多机器人系统是近年来机器人研究的热点,具有良好的应用前景.针对开展相关研究的迫切需要,总结了协作多机器人系统研究的国内外发展现状,并分别对无意识协作的仿生多机器人系统和有意识协作的异构多机器人系统研究进行论述.重点从系统构建和优化控制的宏观角度出发,对有意识协作异构多机器人系统的体系结构、环境感知以及优化控制3个方面的研究进展分别展开论述;对典型的多机器人验证任务和软硬件实验平台进行了总结;最后对协作多机器人系统的研究方向进行了展望.Cooperative multi-robot systems have been a particularly popular topic within robotics because of their potential applications. To meet the demand of promoting relevant study, the current research and development situation of cooperative multi-robot systems were systematically reviewed and summarized. Research concerning the unconscious bionic swarm-cooperation multi-robot and the heterogeneous intentlonal-cooperation multi-robot was dis- cussed. In particular, to build and optimize heterogeneous intentional-cooperation multi-robot systems, the recent advances in system structure, environment perception, and control optimization were surveyed and analyzed. More- over, the benchmark tasks and universal software/hardware platforms for a multi-robot were summarized. Finally, future developments in cooperative multi-robot system research were discussed.

关 键 词：多机器人系统 协作协调 系统构建 优化控制 环境感知 实验平台 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]