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1.
基于并列选择遗传算法的多机器人协作探测   总被引:1,自引:0,他引:1  
多机器人系统在执行探测任务时,存在多个机器人同时选择相同探测区域而造成碰撞几率增加和探测效率降低的问题.在原有并列选择遗传算法的基础上,提出了一种改进的遗传算法.仿真和实验结果表明,将该算法应用于多机器人协作区域探测,可以减小机器人之间的碰撞几率,提高多机器人系统的探测效率.  相似文献   

2.
为实现多个机器人合作追捕目标机器人,以基于运动图式的反应式控制结构为基础,设计追捕机器人的4种基本行为:奔向目标,避开障碍物,避让队友以及收缩包围,为避免机器人陷入死锁状态,引入随机漫游行为。通过基本行为的矢量合成和机器人之间的局部交互作用,实现多机器人的协作行为。仿真试验验证了该方法的有效性。  相似文献   

3.
多机器人协作是当前机器人学和人工智能的研究热点之一。针对多机器人系统中的任务分配问题,提出一种基于集中式和分布式的混合式控制结构,在机器人得到传感器信息后,使用合同网协议来完成任务分配,最终实现多机器人协作。在player/stage仿真平台进行的实验表明:多机器人系统能够有效地进行任务分配与协作,提出的解决方案是行之有效的。  相似文献   

4.
针对多机器人协作系统,提出了一种新的混合定点转动和遗传算法的方法,解决其协作路径规划问题。该方法利用遗传算法并行计算、不易陷入局部最优的优点,具备概率上寻找全局最优解的能力,同时结合了定点转动法易实现、有效减少单机器人路径浪费的优点。仿真实验结果表明,该规划方法运算速度较快,在得到有效规划路径的同时,也易于实现对单机器人的控制。  相似文献   

5.
改进的免疫遗传算法在多机器人协作中的应用   总被引:4,自引:3,他引:1  
张颖  谭冠政 《计算机测量与控制》2008,16(7):1001-1003,1023
针对群体机器人的协作行为,采用一种改进的具有精英保留策略的免疫遗传算法与神经网络相结合的控制策略,实现多移动机器人对单一物体的搬运行为;这种改进的免疫遗传算法,简称为IGAE(Immune Genetic Algorithm with Elitism),结合了精英保留策略(elitism strategy),并将抗体相似度、期望繁殖率以及克隆选择概率采用新的定义方法和计算公式。将人工神经网络作为机器人的行为控制器,并采用改进的具有精英保留策略的免疫遗传算法对神经网络的连接权值进行优化调整,使神经网络可为群体机器人生成最佳的行为决策,从而实现多移动机器人在固定环境中对目标物体的成功搬运。在MATALB环境下的动态仿真实验结果证明了该方法在整个搬运期间具有良好的决策能力。  相似文献   

6.
该文面向分布Agent多移动机器人系统,提出了一种适合于多移动机器人的机器人Agent分层式体系结构,包括状态监测层、决策规划层、协调控制层和行为控制层,其中状态监测层主要实现整个系统对外部环境的状态监测。决策规划层设定系统的全局目标和单个机器人的局部目标,合理快速地完成任务的分解和分配,实现机器人之间任务级之间的协作。协调控制层完成机器人之间的运动协调。行为控制器主要采用基于行为的方法实现具体的运动控制。该结构应用于RoboCup环境下的分布多机器人系统中,满足复杂的、动态的应用环境和系统要求。  相似文献   

7.
孟石  戴先中  甘亚辉 《机器人》2012,34(5):546-552,565
针对多机器人协作中末端位姿的相对运动,分析了其轨迹约束关系并据此提出了一种可行的示教方法.该方法首先分析了协作机器人之间的运动学约束关系,根据协作机器人之间末端位姿的相对运动,将多机器人协作系统的运动模式分为耦合运动以及叠加运动2类.然后给出了这2种运动形式下,主从机器人末端位姿在笛卡儿坐标系内的运动学约束方程并据此提出一种用于多机器人协作系统的轨迹示教方法,最后在搭建的双机器人协作焊接系统上,验证了本文提出的约束关系及示教方法.  相似文献   

8.
多移动机器人系统个体控制体系结构   总被引:10,自引:2,他引:8  
曹志强  张斌  谭民 《机器人》2001,23(5):450-454
本文面向多移动机器人系统,提出了一种适合于移动机器人个体的分层式体系结构, 包括系统监控层、协作规划层和行为控制层三个层次.其中系统监控层主要实现人对系统的 实时监控功能;协作规划层在与其它机器人相应层的交互过程中建立系统的分层式组织形式 ,合理快速地完成任务的分解和分配,实现了机器人之间的任务级协作;行为控制层主要采 用基于行为的方法实现具体的运动控制.该结构满足了移动机器人渐趋复杂的应用环境和日 益增大的系统规模的要求.  相似文献   

9.
与传统的单机器人系统相比,多机器人协作系统的设计存在诸如协作机器人之间的基坐标系标定、协作机器人末端位姿间的运动协调以及多机器人系统间的同步通讯控制等若干特殊性的关键问题.在初步论述多机器人协作系统设计中的若干问题的基础上,特别针对协作机器人间的基坐标系标定、工具手位姿约束分析和控制器通讯同步3个问题,进行了深入讨论,并介绍了实验室相关研究工作的结论.基于本文提供的解决方法,利用VA1400弧焊专用机器人和HP20通用型机器人基于主从式的分布控制结构组成了无夹具焊接实验系统,初步验证了提出的各问题解决方法的有效性.  相似文献   

10.
本文利用文献[1,2]给出的完全能控系统的控制结构相伴标准形的特点,以及它与多项 式矩阵的直接联系,给出了在状态反馈下,任意配置闭环系统极点的两种方法.状态反馈阵K 是容易确定的.进一步,还给出了具有已给定结构形式的,并有指定的不变因子的多项式方阵 的配置算法.上述这些方法,都便于在计算机上实现.  相似文献   

11.
European Community policy and the market   总被引:1,自引:0,他引:1  
Abstract This paper starts with some reflections on the policy considerations and priorities which are shaping European Commission (EC) research programmes. Then it attempts to position the current projects which seek to capitalise on information and communications technologies for learning in relation to these priorities and the apparent realities of the marketplace. It concludes that while there are grounds to be optimistic about the contribution EC programmes can make to the efficiency and standard of education and training, they are still too technology driven.  相似文献   

12.
Abstract This paper describes an approach to the design of interactive multimedia materials being developed in a European Community project. The developmental process is seen as a dialogue between technologists and teachers. This dialogue is often problematic because of the differences in training, experience and culture between them. Conditions needed for fruitful dialogue are described and the generic model for learning design used in the project is explained.  相似文献   

13.
融合集成方法已经广泛应用在模式识别领域,然而一些基分类器实时性能稳定性较差,导致多分类器融合性能差,针对上述问题本文提出了一种新的基于多分类器的子融合集成分类器系统。该方法考虑在度量层融合层次之上通过对各类基多分类器进行动态选择,票数最多的类别作为融合系统中对特征向量识别的类别,构成一种新的自适应子融合集成分类器方法。实验表明,该方法比传统的分类器以及分类融合方法识别准确率明显更高,具有更好的鲁棒性。  相似文献   

14.
为了设计一种具有低成本、低功耗、易操作、功能强且可靠性高的煤矿井下安全分站,针对煤矿安全生产实际,文章提出了采用MCS-51系列单片机为核心、具有CAN总线通信接口的煤矿井下安全监控分站的设计方案;首先给出煤矿井下安全监控分站的整体构架设计,然后着重阐述模拟量输入信号处理系统的设计过程,最后说明单片机最小系统及其键盘、显示、报警、通信等各个组成部分的设计;为验证设计方案的可行性与有效性,使用Proteus软件对设计内容进行仿真验证,设计的煤矿井下安全监控分站具有瓦斯、温度等模拟量参数超标报警功能和电机开停、风门开闭等开关量指示功能;仿真结果表明:设计的煤矿井下安全监控分站具有一定的实际应用价值.  相似文献   

15.
Development of software intensive systems (systems) in practice involves a series of self-contained phases for the lifecycle of a system. Semantic and temporal gaps, which occur among phases and among developer disciplines within and across phases, hinder the ongoing development of a system because of the interdependencies among phases and among disciplines. Such gaps are magnified among systems that are developed at different times by different development teams, which may limit reuse of artifacts of systems development and interoperability among the systems. This article discusses such gaps and a systems development process for avoiding them.  相似文献   

16.
Although there are many arguments that logic is an appropriate tool for artificial intelligence, there has been a perceived problem with the monotonicity of classical logic. This paper elaborates on the idea that reasoning should be viewed as theory formation where logic tells us the consequences of our assumptions. The two activities of predicting what is expected to be true and explaining observations are considered in a simple theory formation framework. Properties of each activity are discussed, along with a number of proposals as to what should be predicted or accepted as reasonable explanations. An architecture is proposed to combine explanation and prediction into one coherent framework. Algorithms used to implement the system as well as examples from a running implementation are given.  相似文献   

17.
This paper presents control charts models and the necessary simulation software for the location of economic values of the control parameters. The simulation program is written in FORTRAN, requires only 10K of main storage, and can run on most mini and micro computers. Two models are presented - one describes the process when it is operating at full capacity and the other when the process is operating under capacity. The models allow the product quality to deteriorate to a further level before an existing out-of-control state is detected, and they can also be used in situations where no prior knowledge exists of the out-of-control causes and the resulting proportion defectives.  相似文献   

18.
《计算机科学》2007,34(4):148-148
Recent years have seen rapid advances in various grid-related technologies, middleware, and applications. The GCC conference has become one of the largest scientific events worldwide in grid and cooperative computing. The 6th international conference on grid and cooperative computing (GCC2007) Sponsored by China Computer Federation (CCF),Institute of Computing Technology, Chinese Academy of Sciences (ICT) and Xinjiang University ,and in Cooperation with IEEE Computer Soceity ,is to be held from August 16 to 18, 2007 in Urumchi, Xinjiang, China.  相似文献   

19.
Going through a few examples of robot artists who are recognized worldwide, we try to analyze the deepest meaning of what is called “robot art” and the related art field definition. We also try to highlight its well-marked borders, such as kinetic sculptures, kinetic art, cyber art, and cyberpunk. A brief excursion into the importance of the context, the message, and its semiotics is also provided, case by case, together with a few hints on the history of this discipline in the light of an artistic perspective. Therefore, the aim of this article is to try to summarize the main characteristics that might classify robot art as a unique and innovative discipline, and to track down some of the principles by which a robotic artifact can or cannot be considered an art piece in terms of social, cultural, and strictly artistic interest. This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008  相似文献   

20.
This paper provides the author's personal views and perspectives on software process improvement. Starting with his first work on technology assessment in IBM over 20 years ago, Watts Humphrey describes the process improvement work he has been directly involved in. This includes the development of the early process assessment methods, the original design of the CMM, and the introduction of the Personal Software Process (PSP)SM and Team Software Process (TSP){SM}. In addition to describing the original motivation for this work, the author also reviews many of the problems he and his associates encountered and why they solved them the way they did. He also comments on the outstanding issues and likely directions for future work. Finally, this work has built on the experiences and contributions of many people. Mr. Humphrey only describes work that he was personally involved in and he names many of the key contributors. However, so many people have been involved in this work that a full list of the important participants would be impractical.  相似文献   

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