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 提出了一種動態(tài)任務分配機制,在縮短任務完成時間的基礎上減少了系統(tǒng)通信量并解決了任務死鎖問題。
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 本文對當前多移動機器人協(xié)作的控制結構、通信方式以及建模和規(guī)劃等關鍵技術的研究現(xiàn)狀做了一個總結,指出了多機器人協(xié)作在任務規(guī)劃方面幾個亟待解決的問題,并說明基于mas(multi-agent-system)的多移動機器人協(xié)作系統(tǒng)是多機器人學發(fā)展的一個重要方向。