| 基于案例的异构多机器人系统的协作研究 |
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| 引用本文： | 施文灶,王平.基于案例的异构多机器人系统的协作研究[J].微计算机应用,2012,1(5):50-53. |
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| 作者姓名： | 施文灶 王平 |
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| 作者单位： | 福建师范大学 物理与光电信息科技学院 电子信息工程系 福州 350108 |
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| 基金项目： | 福建省教育厅资助项目（JB09071,JB09076） |
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| 摘 要： | 目的是研究异构多机器人系统中机器人之间的协作过程.基于足球比赛案例,将异构多机器人系统的任务分为找球、跟随、踢球等几个作业.以人形机器人和轮式机器人作为研究对象,并赋予不同的功能,对机器人能力进行建模.讨论如何以优化的方案分配给执行任务的机器人,并建立了一种参考模型.最后,以流程图方式说明了机器人的行为控制.实践表明,由具有不同能力的机器人共同协作可以更加有效地完成任务.
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| 关 键 词： | 机器人 异构 协作 作业 |
The Rearch of Cooperation of Heterogeneous Multi -Robot System Based on A Case |
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| SHI Wenzao
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WANG Ping.The Rearch of Cooperation of Heterogeneous Multi -Robot System Based on A Case[J].Microcomputer Applications,2012,1(5):50-53. |
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| Authors: | SHI Wenzao WANG Ping |
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| Affiliation: | ( Department of Electronics Information Engineering, School of Physics and OptoElectronic, Fujian Normal University, Fuzhou,350108,China) |
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| Abstract: | Purpose of this study is concentrated on the cooperation among robots for heterogeneous multi - robot system. The task of het- erogeneous multi -robot system is decomposed into several works, includes searching, following and kicking. Takes humanoid robot and wheeled robot as study objects, gives them different functions and models their ability. Discusses the optimal assignment scheme which of- fered to robot that carry out a task and a correlative model is established. Finally, behaviors control of robot is illustrated via flow graph. The practical results show that the task can be accomplished more effectively by cooperation of the robots with different abilities. |
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| Keywords: | robot heterogeneous cooperation work |
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