多机器人系统感知能力和控制体系结构综述  

A survey on perception ability and control architecture of multi-robot system

作　　者：张霖 谢开鑫 郑显华[3] 宋永石 王成军[1] 赵言正[2] ZHANG Lin;XIE Kaixin;ZHENG Xianhua;SONG Yongshi;WANG Chengjun;ZHAO Yanzheng(School of Artificial Intelligence,Anhui University of Science and Technology,Huainan 232001,China;School of Mechanical and Power Engineering,Shanghai Jiao tong University,Shanghai 200240,China;School of Robotics Engineering,Yangtze Normal University,Chongqing 408100,China)

机构地区：[1]安徽理工大学人工智能学院,安徽淮南232001 [2]上海交通大学机械与动力工程学院,上海200240 [3]长江师范学院机器人工程学院,重庆408100

出　　处：《智能系统学报》2024年第4期767-790,共24页CAAI Transactions on Intelligent Systems

基　　金：国家自然科学基金项目(52004034);中国博士后科学基金项目(2023M742265);重庆市自然科学基金项目(2023NSCQ-MSX0758);重庆市教委重点项目(KJZD-K202301403).

摘　　要：为了促进多机器人系统(multi robot system,MRS)的智能化、无人化发展,并提升MRS在不同工作环境中的探测能力和系统的灵活性,本文从MRS的感知能力及其控制系统架构的角度出发,深度调研并分析了MRS相关的研究与工作,重点探讨了空中、地面、水面、水下4种应用环境下的MRS感知能力与控制系统架构,并对未来的研究方向进行展望。本文的结果可对于后续MRS在感知方法和控制系统的选用上提供参考。To facilitate the intelligent and unmanned development of multi-robot systems(MRS)and improve their detection capabilities and flexibility in various working environments,beginning with the perspective of MRS’s perception abilities and their control system architecture,this paper presents a thorough investigation and analysis of related research and work on MRS,with a particular focus on exploring the perception abilities and control system architecture of MRS in four application environments:aerial,ground,surface,and underwater.Additionally,it offers a forward-looking perspective on future research directions.The findings of this paper can provide guidance for the subsequent selection of perception methods and control systems in MRS.

关 键 词：多机器人系统 移动机器人 无人机 无人船 水下机器人 感知 控制 协同 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]