分布式多自主机器人系统冲突及其消解策略的实例研究

Interference and Its Solving Strategy in Distributed Multiple Autonomous Robot System:A Case Study

对于具有全分布式特点的大规模多机器人群体特性的研究,由于其复杂性和交互动态特性,往往缺乏明确的数学工具和分析手段,本文针对典型的群体觅食任务,以计算机仿真为手段,通过对机器人间冲突的分析,直观地揭示这类系统的典型特征。在此基础上,提出了一种基于局部广播式通讯的消解冲突策略,给出了该策略的有限状态机描述,并进行了与其他方法的对比仿真实验,实验结果表明了本文方法对提高群体性能的有效性。

In studies of the group performance of large-scale fully distributed multiple mobile robots, it is difficult to use mathematical tools to model and analyze the system performance due to the system complexity and interactive dynamics. This paper adopts a forage-like task as the study case and analyzes the interference among robots as design and evaluation tool. Through the computer simulation approach, the typical characteristics of this kind of the systems are revealed. Consequently, an interference solving strategy based on local broadcasting communication is proposed, and an FSM (Finite State Automata) is used to describe the robot control strategy. Compared with other typical strategies, the simulation results in this study have justified its validity in improving the group performance.