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Yifan Cai 《International journal of control》2013,86(10):1720-1732
Target searching in complex unknown environments is a challenging aspect of multi-robot cooperation. In this paper, an improved particle swarm optimisation (PSO) based approach is proposed for a team of mobile robots to cooperatively search for targets in complex unknown environments. The improved cooperation rules for a multi-robot system are applied in the potential field function, which acts as the fitness function of the PSO. The main improvements are the district-difference degree and dynamic parameter tuning. In the simulation studies, various complex situations are investigated and compared to the previous research results. The results demonstrate that the proposed approach can enable the multi-robot system to accomplish the target searching tasks in complex unknown environments. 相似文献
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《Robotics and Autonomous Systems》2006,54(3):193-204
This paper proposes a mobile printer system (MPS) based on multi-robot cooperation. The system consists of multiple mobile robots, a wireless LAN system, a graphic user interface (GUI), and a host computer. The GUI comprises a user input section, a task allocation optimization section, and a control and communication section. Its operation is as follows: a user draws a picture on an input window of the GUI, and then the host computer commands client printer-robots to reproduce the same on a paper in a finite time.To control multiple robots during this process, two kinds of multi-robot control architectures along with a collision-free arbitration configuration are proposed. One is a decentralized control architecture, which employs subsumption architecture based on behavior-based robotics. The robots continue to seek the nearest line and to draw it repeatedly until all lines are drawn. This architecture needs no pre-planning and is fault-tolerant. Another is a centralized control architecture, which employs an evolutionary algorithm (EA). The host computer optimizes the task (finding time-optimal path) allocation for each robot by using an evolutionary algorithm and sends the optimized job sequence to the robots. To minimize the elapsed time in drawing all the lines, an evolutionary algorithm with a representation of an individual suitable for the MPS is employed for the task optimization. This architecture can minimize the elapsed time effectively and offers the option of distance-optimality in addition to time-optimality.The proposed architectures are simulated and real experiments with three omni-directional robots are carried out to demonstrate the effectiveness and the applicability of the proposed mobile printer system. 相似文献
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This paper is concerned with the problem of odor source localization using multi-robot system. A learning particle swarm optimization algorithm, which can coordinate a multi-robot system to locate the odor source, is proposed. First, in order to develop the proposed algorithm, a source probability map for a robot is built and updated by using concentration magnitude information, wind information, and swarm information. Based on the source probability map, the new position of the robot can be generated. Second, a distributed coordination architecture, by which the proposed algorithm can run on the multi-robot system, is designed. Specifically, the proposed algorithm is used on the group level to generate a new position for the robot. A consensus algorithm is then adopted on the robot level in order to control the robot to move from the current position to the new position. Finally, the effectiveness of the proposed algorithm is illustrated for the odor source localization problem. 相似文献
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一个面向复杂任务的多机器人分布式协调系统 总被引:7,自引:1,他引:7
基于多智能体系统理论, 研究在非结构、不确定环境下面向复杂任务的多机器人分布式协调系统的实现原理、方法和技术. 提出的递阶混合式协调结构、基于网络的通讯模式和基于有限状态机的规划与控制集成方法, 充分考虑了复杂任务和真实自然环境的特点. 通过构建一个全实物的多移动机器人实验平台, 对规划、控制、传感、通讯、协调与合作的各关键技术进行了开发和集成, 使多机器人分布式协调技术的研究直接面向实际应用, 编队和物料搬运的演示实验结果展示了多机器人协调技术的广阔应用前景. 相似文献
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支持多领域动态数据集成的数据库网格系统 总被引:5,自引:0,他引:5
随着公有数据库资源的丰富,广泛分布的用户希望能够按需地、透明地访问和使用这些丰富的数据资源.DS_Grid(database grid)是一个采用SOA(service-oriented architecture)思想、支持多应用领域数据共享的数据库网格系统.系统采用一种P2P(peer-to-peer)多Chord(MultiChord)网格体系结构,实现数据资源的分布存储、查询处理和动态数据集成;基于文本相似性,可分领域地注册数据资源,实现资源的快速发现;根据领域本体知识和推理规则,实现基于语义的智能查询;采用多根节点多点维护的数据资源副本管理机制,提高系统可靠性;基于关键字过滤的数据集成策略,减少通信代价;采用分布式聚类技术,实现大数据量信息的概要显示.通过实验验证了DS_Grid中所采用的关键技术的可行性和有效性. 相似文献
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软件Agent的设计实现对于解决网络分布环境中的很多应用问题都非常重要。本文在基于事件处理的概念级软件Agent设计模型的基础上,针对Web服务的特殊要求,做出了相应的模型改进。首先对三个知识库进行了细化,然后给出了面向服务的软件Agent内部决策算法过程;考虑到Web服务对Agent协同的要求,还提供了软件Agent必须遵守的交互参考协议。 相似文献
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协作策略是多机器人主动同时定位与建图(SLAM)的关键。文中提出一种多机器人相互校正的协作策略, 称为协助校正。 该方法通过优化机器人对陆标的观测来提高定位与建图的精度, 共包括弱协助校正和强协助校正两种模式。 前者是一种间接的协助模式, 可应用于所有机器人自身定位均不准确的情形。 后者是一种直接的协助模式, 由自身定位精度较高的机器人主动校正其它机器人及相应陆标。 文中将这两种协助校正模式利用状态机统一到多机器人主动SLAM应用中。在仿真实验中将协助校正与其它多机器人主动SLAM方法进行对比以验证其精度优势, 并与单机器人主动SLAM对比以验证其导航代价极低的优势。最后在两台Poineer3-DX移动机器人上进行真实环境实验,实验结果证实协助校正方法可在实际应用中有效提高多机器人主动SLAM的探索效率和精度。 相似文献
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多机器人编队控制是多机器人协作领域的重要研究内容之一,如何实现多机器人朝同一目标移动的同时保持队形是多机器人编队的一个热点和难点问题。针对这一问题,提出一种新的基于生物刺激神经网络的多机器人动态编队方法,采用基于leader-referenced编队模型实时计算各机器人的虚拟目标位置,利用生物刺激神经网络进行机器人导航。最后进行仿真实验,实验结果表明该方法在实现多机器人实时避障并保持队形的同时,朝同一目标移动,而且可以很快实现队形变换,具有较好的实时性和灵活性。 相似文献
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针对目前企业应用集成面临的问题,介绍了面向服务架构(SOA)的基本概念、基本工作原理,以Web Service为主要技术,提出了一种基于SOA的企业应用集成框架。框架采用服务分层模型,具有敏捷性、松耦合、跨平台、分布式的特点,更能适应企业信息系统发展的需要。 相似文献
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This paper offers a service-oriented architecture (SOA) for ontology-based multi-agent system (MAS) negotiations in the context of virtual enterprises (VEs). The objective of this paper is fourfold. First, it is to design a SOA which utilizes ontology and MAS to provide a distributed and interoperable environment for automated negotiations in VE. In this architecture, individual ontologies for both the VE initiator and its potential partners are constructed to describe and store resources and service knowledge. Second, a series of semantic ontology matching methods are developed to reach agents’ interoperability during the negotiation process. Third, correspondence-based extended contract net protocol is presented, which provides basic guidelines for agents’ reaching mutual understandings and service negotiation. Last, a fuzzy set theory based knowledge reuse approach is proposed to evaluate the current negotiation behaviors of the VE partners. A walkthrough example is presented to illustrate the methodologies and system architecture proposed in this paper. 相似文献
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网络应用正从面向对象的架构向面向服务的架构方向转变,基于Web服务架构的开发模型顺应了从组件复用向服务复用转变这一未来软件发展的新趋势。本文以服务技术的发展应用为基础,探讨了.NET环境下的web服务开发,提出了基本实现思路。 相似文献
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网络应用正从面向对象的架构向面向服务的架构方向转变,基于Web服务架构的开发模型顺应了从组件复用向服务复用转变这一未来软件发展的新趋势。本文以服务技术的发展应用为基础,探讨了.NET环境下的web服务开发,提出了基本实现思路。 相似文献