一个面向复杂任务的多机器人分布式协调系统  

Complex task oriented multi-robot distributed coordination system

作　　者：陈卫东[1] 席裕庚[1] 顾冬雷[2] 董胜龙[2] 

机构地区：[1]上海交通大学自动化研究所,上海200030 [2]中国科学院机器人学开放研究实验室,沈阳110003

出　　处：《控制理论与应用》2002年第4期505-510,共6页Control Theory & Applications

基　　金：国家自然科学基金 (698895 0 1;60 10 5 0 0 5 );国家 863计划 (2 0 0 1AA42 2 14 0 )资助项目 .

摘　　要：基于多智能体系统理论 ,研究在非结构、不确定环境下面向复杂任务的多机器人分布式协调系统的实现原理、方法和技术 .提出的递阶混合式协调结构、基于网络的通讯模式和基于有限状态机的规划与控制集成方法 ,充分考虑了复杂任务和真实自然环境的特点 .通过构建一个全实物的多移动机器人实验平台 ,对规划、控制、传感、通讯、协调与合作的各关键技术进行了开发和集成 ,使多机器人分布式协调技术的研究直接面向实际应用 ,编队和物料搬运的演示实验结果展示了多机器人协调技术的广阔应用前景 .Based on the multi_agent system theory, we studied the theory, method and technology of the multi-robot distributed coordination systems performing complex tasks in uncertain environment. Focusing on the fundamental theories and key technologies of multi-robot distributed coordination systems, we proposed some novel ideas, including hierarchical & hybrid coordination architecture, network-based communication as well as integration of planning and reactive control based on the finite state automata (FSA). Particular focus is placed on the task complexity and environment uncertainty. Building a full physical experimental system of the multi_robot system composed of four autonomous mobile robots, a number of key techniques have been developed and integrated such as distributed planning, control, sensing, communication, coordination and cooperation strategies, etc. Using the real multi_robot experimental testing platform, our research faced the practical application problems directly. The experiment results demonstrate the application of our distributed coordination approach for a group of mobile robots performing different tasks such as multi-robot formation and cooperative object transport.

关 键 词：复杂任务 多机器人分布式协调系统 分布式自治系统 递阶混合式协调结构 人工智能 多智能体系统 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]