摘要
未来机器人技术研究的重点和热点之一是多机协同系统。相比于单个机器人,多机系统具有典型的分布特性,机器人之间相互取长补短,增加了功能的冗余性、系统的容错性以及组织结构的灵活性。同步定位与地图构建、路径规划技术、任务分配方法及与强化学习的结合,这4个关键部分是未来多机协同系统的重要发展方向。综述了多机协同相关领域所采用的主要方法、适用范围和优缺点,归纳了该领域目前存在的突出问题,并探讨了基于协同技术以及人工智能的多机器人未来发展趋势。多机协同领域的发展对于中国空间站的建造与运营,深空探测复杂任务等具有重要战略价值及应用前景。
The research of multi-robot cooperative system is one of the important emphases and hot spots of robotics in the future.Compared with the single robot,the multi-robot systems have typical distribution characteristics,and the individuals can learn from each other which increases the redundancy,fault tolerance and flexibility of system.The key parts,including simultaneous localization and mapping,path planning,task allocation,and the combination of reinforcement learning,are the future development trends of the multi-robot cooperative system.In this paper,the main methods,application scope,advantages and disadvantages in the cooperative system were summarized,the outstanding problems that currently existed in this field were pointed out.In addition,the future development trend of multi-robot system based on cooperative technology and artificial intelligence were discussed.The development of multi-robot cooperative system had important strategic value and application prospect for constructing and operating China's space station and for realizing the complex mission of deep space exploration.
作者
张迎雪
陈萌
陈金宝
陈传志
ZHANG Yingxue;CHEN Meng;CHEN Jinbao;CHEN Chuanzhi(Academy of Astronautics,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China;Aerospace Engineering Shanghai,Shanghai 201109,China)
出处
《载人航天》
CSCD
北大核心
2021年第6期767-778,共12页
Manned Spaceflight
基金
国家自然科学基金面上项目(61773265)
国家自然科学基金(52075242)。
关键词
多机器人系统
同步定位与地图构建
路径规划
任务分配
强化学习
人工智能
multi-robot system
simultaneous localization and mapping(slam)
path planning
task allocation
reinforcement learning
artificial intelligence
