一种基于双令牌的多机器人协作策略研究

规划协作和自组织协作是两种比较常见的多机器人协作方式，前者规划精度高，但设计复杂，且系统鲁棒性不强，后者灵活性很强，但由于单个机器人自主性很强，因此，协作存在一定盲目性。该文为此提出了一个基于双令牌的多机器人自组织协作模型。模型中采用了具有两级策略评价标准的多机器人策略调整机制，通过双令牌来协调机器人之间的策略调整行为。设计了一个基于本文自组织模型的多机器人控制系统，进行了仿真实验验证。

Research of Double Token Based Collaborative Strategy for Multi-robot System

Planning and self-organizing are two common approaches for multi-robot collaboration. The former is highly precise but complicated to realize and is poor in robustness. The latter is adaptive to environment, but its process is with a little blindness because individual robot makes decision independently. To reduce the blindness in self-organizing approach, this paper proposes a self-organizing model based on double token for multi-robot coordination. In this model, a robot strategy adjusting mechanism is designed, which uses a two-level standard to evaluate robot's strategy, and moreover a method of double token is used to coordinate the strategy adapting behaviors of robots. Simulation result demonstrates the effectiveness of this model by constructing a multi-robot control system based on the model.