摘要
针对多机器人控制系统难以精确建模、性能指标最优化难等问题,借鉴自然界事物平衡的思想,提出基于平衡原则的决策控制方法,并结合该方法设计一种机器人任务选择策略调整算法.该算法帮助多机器人系统较好地实现任务自组织分配,使系统取得良好的运行效果.
To overcome the problems of uncertainty in model and the difficulties in optimizing the quality function in control process of multiple robotic system, a method for decision control based on balance principle is proposed, which is put forward according to the balanced phenomena in nature. Furthermore, an algorithm of adjusting the strategies for selecting task is designed by applying the proposed method to the problem of task allocation. Simulation result demonstrates the validity of this algorithm on self-organizing task allocation in a team of robots.
出处
《模式识别与人工智能》
EI
CSCD
北大核心
2007年第6期832-837,共6页
Pattern Recognition and Artificial Intelligence
基金
国家自然科学基金(No.60405012)
关键词
平衡原则
分布自主协作式多机器人系统
自组织
任务分配
Balance Principle, Distributed Autonomous Cooperative Multiple Robotic System, Self-Organizing, Task Allocation
