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基于多智能体系统理论,研究在确定环境下,面向任务的多机器人协调控制系统的实现原理、方法和技术,以及控制集成方法。开发了机器人协调控制的实验平台,对规划、控制、传感、通讯、协调与合作的各关键技术进行了开发和集成,完成了地面2个机器人的实时跟踪,三机器人的协调运动控制。通过实验研究使多机器人分布式协调技术的研究能够直接面向实际应用。
Based on the theory of multi-agent system, this paper studies the implementation principle, method and technology of multi-robot coordinated control system with task oriented and task-oriented control, and the method of control integration. Developed an experimental platform robot coordinated control, planning, control, sensing, communication, coordination and cooperation of the key technologies were developed and integrated, real-time tracking completed two ground robots, robot control coordination exercise three. Through the experimental research, the research of multi-robot distributed coordination technology can directly face the practical application.