Study on multi-robot task allocation based on sensor information

LIU Gang1; LI Lei-min2; ZHANG Ling1; LI Bin3

doi:10.13873/j.1000-97872008.06.025

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Study on multi-robot task allocation based on sensor information

更新时间：2025-09-11

- Study on multi-robot task allocation based on sensor information
- Issue 6, Pages: 114-117(2008)
- 作者机构：
  
  1. 西南科技大学信息工程学院
  2. 西南科技大学国防科技学院
  3. 浙江理工大学机械与自动控制学院
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872008.06.025
  CLC： TP242.6
- Published：2008
- 稿件说明：
移动端阅览
[1]刘刚,李磊民,张玲,李斌.基于传感器信息的多机器人任务分配研究[J].传感器与微系统,2008(06):114-117.

LIU Gang1, LI Lei-min2, ZHANG Ling1, et al. Study on multi-robot task allocation based on sensor information[J]. 2008, (6): 114-117.
[1]刘刚,李磊民,张玲,李斌.基于传感器信息的多机器人任务分配研究[J].传感器与微系统,2008(06):114-117. DOI： 10.13873/j.1000-97872008.06.025.

LIU Gang1, LI Lei-min2, ZHANG Ling1, et al. Study on multi-robot task allocation based on sensor information[J]. 2008, (6): 114-117. DOI： 10.13873/j.1000-97872008.06.025.

摘要

多机器人协作是当前机器人学和人工智能的研究热点之一。针对多机器人系统中的任务分配问题

提出一种基于集中式和分布式的混合式控制结构

在机器人得到传感器信息后

使用合同网协议来完成任务分配

最终实现多机器人协作。在player/stage仿真平台进行的实验表明:多机器人系统能够有效地进行任务分配与协作

提出的解决方案是行之有效的。

Abstract

Multi-robot cooperation is one of hotspots in research on robotics and artificial intelligence currently.To solve the problem of task allocation in multi-robot system

hybrid control architecture based on centralized control and distributed control is applied to accomplish multi-robot cooperation in task level.When robots receive the information provided by sensors

the task is distributed according to contract net protocol.Finally multi-robot cooperation is accomplished.The simulation of multi-robot tracking and formation experiments in player/stage platform shows that the algorithm is effective.

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Keywords

references

移动机器人小队的队形控制 [J]. 唐钟,李磊民,吴坚. 西南科技大学学报 . 2003(01)

分布式多自主机器人系统冲突及其消解策略的实例研究 [J]. 陈卫东,李振海,席裕庚. 系统仿真学报 . 2002(10)

机器人群体协作与控制的研究 [J]. 谭民,范永,徐国华. 机器人 . 2001(02)

一个多智能体机器人协作装配系统 [J]. 王越超,谈大龙,黄闪,栾天,赵忆文. 高技术通讯 . 1998(07)

Cooperative Robotics for Multi-Target Observation [J] . Lynne E. Parker. Intelligent Automation & Soft Computing . 1999 (1)

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Related Author

LIU Xiao-nan

LIU Bin

Related Institution

College of Electronic and Information Engineering,Nanjing University of Technology

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