| 多自治水下机器人多任务分配的自组织算法 |
| |
| 引用本文： | 朱大奇,李欣,颜明重.多自治水下机器人多任务分配的自组织算法[J].控制与决策,2012,27(8):1201-1205. |
| |
| 作者姓名： | 朱大奇 李欣 颜明重 |
| |
| 作者单位： | 上海海事大学水下机器人与智能系统实验室,上海,201306 |
| |
| 基金项目： | 国家自然科学基金项目(51075257);上海市科委创新行动计划项目(10550502700);高校博士点基金项目(20093121110001) |
| |
| 摘 要： | 针对自治水下机器人（AUV）研究中的多机器人多任务分配问题,提出一种基于自组织映射（SOM）神经网络的多AUV多目标分配策略.将目标点的位置坐标作为SOM神经网络的输入向量进行自组织竞争计算,输出为对应的AUV机器人,从而控制一组AUV在不同的地点完成不同的任务,使机器人按照优化的路径规则到达指定的目标位置.为了表明所提出算法的有效性,给出了二维、三维作业环境中的仿真实验结果.
|
| 关 键 词： | 自组织映射 神经网络 多机器人系统 自治水下机器人 任务分配 |
| 收稿时间： | 2011/2/22 0:00:00 |
| 修稿时间： | 2011/7/6 0:00:00 |
Task assignment algorithm of multi-AUV based on self-organizing map |
| |
| ZHU Da-qi,LI Xin,YAN Ming-zhong.Task assignment algorithm of multi-AUV based on self-organizing map[J].Control and Decision,2012,27(8):1201-1205. |
| |
| Authors: | ZHU Da-qi LI Xin YAN Ming-zhong |
| |
| Affiliation: | (Laboratory of Underwater Vehicles and Intelligent Systems,Shanghai Maritime University,Shanghai 201306,China.) |
| |
| Abstract: | Aiming to the task assignment issue of multi-AUV(autonomous underwater vehicles) system,a self-organizing map(SOM) neural network based strategy of task assignment of multi-AUV and multi-objective is presented.Targets’ locations are set as input vectors of SOM neural network.Then self-organizing competitive calculations are carried out.Its output vectors are the corresponding AUV robots’ locations,so that a group of AUVs can be controlled to complete different tasks in different locations,and the robots can reach the designated targets in optimized paths.Simulation results in two-dimensional and three-dimensional working environments show the effectiveness of the proposed method. |
| |
| Keywords: | self-organizing map neuralnetworks multi-robot system autonomous underwater vehicles task assignment |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
| 点击此处可从《控制与决策》浏览原始摘要信息 |
|
点击此处可从《控制与决策》下载全文 |
