A dynamic task allocation mechanism is presented which reduces communication traffic and resolves the problem of task deadlock on the basis of shortening task completion time 提出了一種動(dòng)態(tài)任務(wù)分配機(jī)制,在縮短任務(wù)完成時(shí)間的基礎(chǔ)上減少了系統(tǒng)通信量并解決了任務(wù)死鎖問題。
This paper summarizes the key technologies of multi mobile robots cooperation such as the control architecture, communications structures, mission modeling and planning, etc . it lists crucial problems which need to be solved urgently and points out that the multi-agent system is an important direction of multi-robot coordination systems in the future . a novel auction model of dynamic tasks allocation for multiple mobile robots cooperation in the unknown, unstructured and changing environments is brought forward 本文對(duì)當(dāng)前多移動(dòng)機(jī)器人協(xié)作的控制結(jié)構(gòu)、通信方式以及建模和規(guī)劃等關(guān)鍵技術(shù)的研究現(xiàn)狀做了一個(gè)總結(jié),指出了多機(jī)器人協(xié)作在任務(wù)規(guī)劃方面幾個(gè)亟待解決的問題,并說明基于mas(multi-agent-system)的多移動(dòng)機(jī)器人協(xié)作系統(tǒng)是多機(jī)器人學(xué)發(fā)展的一個(gè)重要方向。