DESIGN AND DEVELOPMENT OF MULTI-ROBOT ARCHITECTURE AND DECISION-MAKING MODEL
To design individual robot architecture in task-oriented multi-robot system running in dynamic environment, it is essential to give prominence to robot abilities of real-time reaction, making decision ability and the cooperation.However, these abilities, especially the second one, were not emphasized in the existent architectures.In this research, a hybrid robot architecture based on five reaction layers was proposed.A decision-making development method was presented.After pointing out that when a robot being able to satisfy multi-task needing, it not only need to consider the distances, but need to synthetically consider the tasks, environment, and robots self-status also, a task team selecting algorithm using decision-making matrix based on the multiple properties was further proposed.And at last test results of garbage treatment in simple simulated environment shows that method proposed in this paper is efficiency.
Multi-robot system Robot architecture Cooperation Decision-making
SHU-QIN LI XIAO-HUA YUAN ZHEN-MIN TANG LU YANG JING-YU YANG
Department of Computer Science, Beijing Information Science & Technology University, Beijing 100085 College of Information, Shanghai Fisheries University, Shanghai 200090 Department of Computer Science, Nanjing University of Science & Technology, Nanjing 210094
国际会议
2007 International Conference on Machine Learning and Cybernetics(IEEE第六届机器学习与控制论国际会议)
香港
英文
610-616
2007-08-19（万方平台首次上网日期，不代表论文的发表时间）