异构多机器人协作系统研究进展

Developments in heterogeneous multi-robot cooperation systems

异构多机器人系统可以发挥单一结构机器人在某个领域的优点而达到整体的最优配置,机器人的功能和接口协议对协作系统影响很大.IGRS协议是我国在信息设备协作领域中惟一的国际标准,为异构多机器人协作提供了有效的支持.对国内外相关研究进行系统地归纳和总结,找出需要解决的问题,并在课题组研制的多种机器人平台上,从3个方面阐述了基于IGRS协议的异构多机器人协作系统:异构机器人的定位、通信以及感知方案;异构机器人协商策略和分组方案;机器人的功能分类和规划,提出了细粒度可控的任务委托分配方案.

Heterogeneous multi-robot cooperation systems can create globally optimal configurations by taking full advantage of single-structure robots in some areas. The capabilities and protocols available for robot interaction have significant effects on their ability to act cooperatively. The integrated GPS radio system （IGRS） protocol is an international standard used for positional data in China. It provides effective communication for heterogeneous multi-robot cooperation systems. The current research and development situation was systematically reviewed and summarized, allowing problems remaining to be solved to be outlined. On the basis of several robot platforms made by our research group, the advantages of heterogeneous multi-robot cooperation systems based on the IGRS protocol were elaborated. This shows up in three areas： locating robots through an IGRS communication and spatial perception scheme; dynamic grouping and negotiation strategies; functional classification and planning. A scheme for grain control of the tasks of a principal-agent was then developed.