摘要
文中主要研究多机器人分布式分级协作策略。提出了任务分配要考虑"机器人能力、移动速度、路径长度、完成任务消耗、任务优先级"等因素,并设计了多属性值竞标函数。以违约代价最小、最大化自身效益为基础,组成员可重新分配。该协作策略能实现机器人到子任务的最优映射,任务发生变化或机器人发生故障时,机器人能正确、及时地进行协调。
This paper studies the distributed multi-robot cooperation strategy classification, suggests the considerations of robot capability, mobile speed, path length, task consumption, task priority and other factors in the task assignment, and describes the design of multi-attribute value bidding function. Based on minimized cost of contract breach and maximized its effectiveness, members of the group could be re-assigned. This cooperative strategy could achieve the best mapping form the robot to the sub task. And the robot could make correct and timely coordination when the task changes or the robot fails.
出处
《通信技术》
2009年第9期124-126,共3页
Communications Technology
基金
贵州省教育厅自然科学研究项目(黔教科2005223)
关键词
多机器人
协作策略
任务组织
任务协调
通信
multi-robot
cooperative strategy
organization mission organization
task coordinations
communication
