| 多AUVS协作分布式控制 |
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| 引用本文： | 肖坤,由光鑫,姜大鹏,庞永杰. 多AUVS协作分布式控制[J]. 哈尔滨工程大学学报, 2007, 28(5): 491-495 |
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| 作者姓名： | 肖坤 由光鑫 姜大鹏 庞永杰 |
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| 作者单位： | 哈尔滨工程大学,船舶工程学院,黑龙江,哈尔滨,150001;哈尔滨工程大学,船舶工程学院,黑龙江,哈尔滨,150001;哈尔滨工程大学,船舶工程学院,黑龙江,哈尔滨,150001;哈尔滨工程大学,船舶工程学院,黑龙江,哈尔滨,150001 |
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| 基金项目： | 国防科工委基础研究项目 |
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| 摘 要： | 多水下机器人系统中机器人之间的协调、协作问题的解决是多机器人系统走向实际应用的基本前提之一.针对多机器人协作问题,讨论了一种称为"市场"框架的多水下机器人系统分布式控制方法,给出了基本的假设、概念和优化过程,并在理论上对该框架的收敛性以及计算复杂度控制等基本特性进行了分析和证明.数值模拟主要针对该框架的优化能力、计算复杂度控制以及容错能力等方面进行了深入的试验分析.其结果与基于GA的集中式控制方法对比表明,基于"市场"框架的多水下机器人分布式控制方法与传统的集中控制方法相比具有更好的优化结果和更短的解算时间.
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| 关 键 词： | 多水下机器人系统 协调控制 " 市场" 框架 拍卖 任务分配 |
| 文章编号： | 1006-7043（2007）05-0491-05 |
| 修稿时间： | 2006-08-02 |
Distributed cooperation control for a multiple AUVS |
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| XIAO Kun,JIANG Da-peng,YOU Guang-xin,PANG Yong-jie. Distributed cooperation control for a multiple AUVS[J]. Journal of Harbin Engineering University, 2007, 28(5): 491-495 |
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| Authors: | XIAO Kun JIANG Da-peng YOU Guang-xin PANG Yong-jie |
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| Affiliation: | College of Shipbuilding Engineering, Harbin Engineering University, Harbin 150001, China |
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| Abstract: | The problem of cooperation and coordination between various vehicles in a multiple autonomous underwater vehicle system(Multiple AUVS) is a fundamental issue to be resolved before they can be used in the real world.A "Market" framework for a multiple AUVS distributed control system is proposed,giving basic hypothesis,concepts and algorithms.Theoretical analysis of this system's convergence and local computational complexity is also given.Simulations mainly focused on quality of performance,control of complexity,and robustness.The results,when compared with central control systems based on GA,show that this "Market" framework based on distributed controllers possesses significant advantages in the fields mentioned above. |
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| Keywords: | multiple autonomous underwater vehicle system,cooperative control," market" framework,auction,task allocation |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
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