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在自重构多机器人系统中,机器人控制需要解决的关键问题是系统的任务规划和多机器人的协调控制。其中,任务规划是高层的组织与决策机制问题,指如何组织多个机器人共同完成任务,实现机器人系统资源的优化配置。本文通过建立一种多机器人系统的模型,结合集中规划的决策方法,实现自重构机器人系统任务规划的优化问题。仿真结果表明,该方法是可行的。 相似文献
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多机器人系统协调是一个影响系统效率的重要问题.传统的基于规划和学习的方法,因为都需要自上而下的设计或督导信息,在复杂环境下的适应能力有限.自组织是一种非常有效的自下而上的设计思路,但具体实现的系统很少.本文引入了单个机器人"个性"的概念,设计了代表个性的价值函数和个性演变的方式,通过机器人个性不同来影响机器人的决策,从而实现了多机器人系统的自组织协调.仿真说明了这一思想的有效性. 相似文献
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针对多机器人控制系统难以精确建模、性能指标最优化难等问题,借鉴自然界事物平衡的思想,提出基于平衡原则的决策控制方法,并结合该方法设计一种机器人任务选择策略调整算法.该算法帮助多机器人系统较好地实现任务自组织分配,使系统取得良好的运行效果. 相似文献
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未知环境下的多机器人合作是一个复杂的控制问题.它的解决方案要求在机器人内部任务目标与机器人之间的任务目标间保证有适当的均衡,而机器人间的协作是多机器人系统高效工作的关键.证明了一种分布式的结构自适应的组织模型在MAS中是鲁棒的和高效的.基于自组织的原则,在执行任务时机器人可以通过任务分配实时改变组织结构.各机器人之间通过任务分配的关系记录来确定下一步的关系.实验证明:此方法能接近到集中式控制方法的上界,优于静态的和随机的任务分配方法. 相似文献
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神经网是一个非线性动力学系统,具有自适应、自组织、自学习能力.本文介绍了利用多层神经网构造非线性系统仿真器的方法,并通过一些应用实例的介绍,说明神经网系统在实时控制和机器人系统等方面有广泛的应用前景. 相似文献
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《数字社区&智能家居》2008,(Z1)
路径规划技术是足球机器人技术研究中的一个重要领域。本文针对足球机器人个性的自组织路径规划研究,模仿生物系统对多机器人系统提出了个性的概念,并且提出了多机器人系统个性演化的方式和数学表达。最后运用这种控制方式进行了仿真实验,验证了这种控制方式确实具有自组织的能力。 相似文献
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神经模糊系统中模糊规则的优选 总被引:5,自引:0,他引:5
提出一种基于两级聚类算法的自组织神经模糊系统,该系统采用两级聚类算法(改进的最近邻域聚类算法和Gustafson-Kessel模糊聚类算法)对输入/输出数据进行模糊聚类,并由模糊聚类的划分熵确定最优划分,建立模糊模型,模型精度可由梯度下降法进一步提高。仿真结果表明,这种神经模糊系统具有结构简单、规则数少、学习速度快以及建模精度高等特点。 相似文献
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Solving function distribution and behavior design problem for cooperative object handling by multiple mobile robots 总被引:1,自引:0,他引:1
ZhiDong Wang Nakano E. Takahashi T. 《IEEE transactions on systems, man, and cybernetics. Part A, Systems and humans : a publication of the IEEE Systems, Man, and Cybernetics Society》2003,33(5):537-549
This paper addresses the function distribution and behavior design problem for a multirobot system which incorporates a behavior-based dynamic cooperation strategy for object handling. The proposed multiple robot system is composed of a managing robot and homogeneous behavior-based robots. The cooperation strategy in this system is realized in two steps: designing the distributed robot's cooperative behavioral attributes according to the robot's abilities, and organizing these behavioral attributes so that team cooperation is realized. For indicating an incremental style of local behavior construction, an advanced design of cooperative behavior for coping with unknown disturbance is addressed. Additionally, two extended cooperation strategies designed for a path tracking task are described. These three strategies are based on the same concept on performing manipulation in coordination. Therefore, by considering the function distribution among the managing robot and worker robots, and considering behavior design of each worker robot, the proposed system is able to achieve the object handling task with different performances according to the task requirement, such as with or without path tracking and with or without contact with the environment. Experimental results demonstrate the applicability of the proposed system. 相似文献
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Higor Barbosa Santos Marco Antonio Simões Teixeira Andre Schneider de Oliveira Lucia Valeria Ramos de Arruda Flavio Neves-Jr. 《Journal of Intelligent and Robotic Systems》2018,91(2):333-347
This work presents a novel method to quasi-omnidirectional control of an intelligent inspection robot designed to work inside and outside spherical storage tanks. The main objective is to promote a stable and smooth navigation during inspection tasks, ensuring the safety motion under adhesion and kinematic constraints. The robot is designed with four independent steerable magnetic wheels and a mechanical topology that allows the correct adjustment of adhesion system. A scheduled Fuzzy control is developed to achieve an optimal behavior and maximize the robot’s maneuverability, considering the magnetic restrictions of adhesion system and kinematic constraints of the inspection robot. The high adaptability of its mechanical topology (i.e., wheel misalignment, magnetic adhesion system, wheel camber and flexibilities in mechanical structure) and gravitational disturbance introduce many nonlinear characteristics in dynamic behavior that cannot be neglected, making the determination of its dynamic model a complex task. The Fuzzy approach allows to project a control system without a depth knowledge of its dynamic properties, to minimize the dynamic disturbances found in robot structure. Thus, the proposed motion control works according to the robot specific characteristics to ensure the quasi-omnidirectional motion over a reliable adhesion to tank surface and to minimize the effects of wheels kinematic constraints. 相似文献
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This paper describes an autonomous free-floating robot system that was designed to investigate the behavior of free-floating robots that are involved in the capture of satellites in space. The robot is used as a test bed for algorithms that have been developed for efficient and autonomous capture of objects in space. The robot is a completely autonomous system running under a real-time operating system. It is equipped with two three-degree-of-freedom arms, a three-axis thruster system and a fast communications module. The robot works in conjunction with a host computer. The host computer is used to process the capture algorithms and the robot implements the results in real time. The entire system provides a test bed for algorithms developed for optimal capture of objects in space. 相似文献
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《Advanced Robotics》2013,27(16):2039-2064
This paper presents FTBN, a new framework that performs learning autonomous mobile robot behavior and fault tolerance simultaneously. For learning behavior in the presence of a robot sensor fault this framework uses a Bayesian network. In the proposed framework, sensor data are used to detect a faulty sensor. Fault isolation is accomplished by changing the Bayesian network structure using interpreted evidence from robot sensors. Experiments including both simulation and a real robot are performed for door-crossing behavior using prior knowledge and sensor data at several maps. This paper explains the learning behavior, optimal tracking, exprimental setup and structure of the proposed framework. The robot uses laser and sonar sensors for door-crossing behavior, such that each sensor can be corrupted during the behavior. Experimental results show FTBN leads to robust behavior in the presence of a sensor fault as well as performing better compared to the conventional Bayesian method. 相似文献