智能体Petri网融合的多机器人−多任务协调框架  

Multi-robot-multi-task Coordination Framework Based on the Integration of Intelligent Agent and Petri Net

作　　者：李勇[1] 李坤成 孙柏青 张秋豪 王义娜 杨俊友[1] LI Yong;LI Kun-Cheng;SUN Bai-Qing;ZHANG Qiu-Hao;WANG Yi-Na;YANG Jun-You(School of Electrical Engineering,Shenyang University of Technology,Shenyang 110870)

机构地区：[1]沈阳工业大学电气工程学院,沈阳110870

出　　处：《自动化学报》2021年第8期2029-2049,共21页Acta Automatica Sinica

基　　金：国家自然科学基金(61906125);辽宁省自然科学基金(2019-ZD-0205,20180550596);辽宁基金资助。

摘　　要：为解决异构的服务机器人团队为多位老人服务时的协调问题以及在此过程中如何最大化老人的总体满意度,提出了一种服务于多人的多机器人−多任务协调框架.首先,结合时延Petri网和颜色Petri网提出了可扩展时延−颜色Petri网(Scalable timed-colored Petri net,STdCPN)对养老院情境下服务机器人照顾老人的过程进行建模.然后,将老人的感受和情绪作为机器人照顾老人时的重要指标,构建了服务对象满意度模型.最后,设计智能体来实现该协调框架的调度,该智能体通过考虑老人“个人因素”和机器人的实时状态、位置等信息来对任务进行合理的规划调度,使机器人帮助老人完成任务的同时,最大化老人总体满意度.In order to solve the coordination problem of heterogeneous service robot team serving multiple elderly people meanwhile to maximize the overall satisfaction of the elders,a multi-robot-multi-task coordination framework for multi-person is proposed.Firstly,scalable timed-colored Petri net(STdCPN)is proposed based on timed Petri net and colored Petri net to model the process of service robots caring for the elders in the context of nursing home.Then the satisfaction model of service object is constructed taking the elders'feelings and emotions as important indicators.Finally,an agent is designed to schedule the coordination framework.The agent can plan and schedule tasks reasonably by considering the“personal factors”of the elders and the real-time status and location of the robots,so that the robots can help elders to complete the tasks while maximizing the overall satisfaction.

关 键 词：多机器人协调 满意度 PETRI 网 智能体 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]