改进合同网协议的多移动机器人协作系统

Multi-Robot Cooperation System Based on the Improved Contract Net Protocol

以多移动机器人大规模搜索搬运为背景,探讨机器人异构、目标物异构情况下,多移动机器人协作系统的构建.通过改进合同网协议,实现动态局域网招标,并根据期望值投标,以期望值作为确定任务执行者的重要指标.仿真实验结果表明,该方法能大幅减少系统通信开销,有效缩短任务响应时间与任务完成时间,提高了系统效率.

Based on the mission of multi-robot searching and transporting object in a large range,this paper discusses multi-robot cooperation model building with different robots and different objects.The contract net protocol is improved so that the dynamic LAN is applicable to public bidding invitation,and expectation is used as main evaluation to confirm the task executor.The results of simulation experiment indicate that the method substantially reduces communication traffic,task response time and task completion time,and improves the efficiency of the system effectively.