基于多目标决策理论的多机器人协调方法  

Coordination of to multi-robots using behavior-based multi-objective decision theory

作　　者：陈伟[1] 张铭钧[1] 孟宪松[1] 

机构地区：[1]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2003年第3期308-312,共5页Journal of Harbin Engineering University

基　　金：黑龙江省博士后科研启动金资助项目(LRB-KY01014).

摘　　要：多机器人协调问题是当前机器人技术领域的研究热点和难点.对多机器人之间的协调理论进行研究具有重大的理论和实际意义.为此,提出了一种基于多目标决策理论的多机器人协调方法,给出室内环境的拓扑建模法.在环境的拓扑图中利用A 算法搜索出每个机器人的静态无碰路径,用拓扑图的节点保证机器人运动的大方向正确,在局部范围内根据多目标决策理论和避碰规则集协调机器人的运动.通过计算机仿真试验验证了此方法的有效性和可行性.For multirobot cooperation and coordination is of great academic and applied significance,an approach is proposed for multirobot coordination using behavior based multiobjective decision theory,and a topological model of indoor environment with a static collisionfree path for every robot is presented by using the heuristic A* star arithmetic, and key nodes are used to ensure a rough path for every robot. The behavior sets in local areas are coordinated by using multiobjective decision and collision avoid rules. It is shown that robots can adaptively reach their goals during the simulation experiment.

关 键 词：多目标决策 多机器人协调 环境建模 拓扑图 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]