面向多目标追捕的多机器人协同控制研究
发布时间：2018-10-15 20:00
【摘要】：多机器人系统协同控制问题一直是多机器人研究的热点问题。通过对多机器人系统协同控制的研究,来提高多机器人系统执行任务的效率和质量。本文以多目标追捕为模型,研究多机器人系统的高效完成追捕任务。通过研究总结,多机器人系统的协同控制研究还存在一定的问题:在多机器人系统任务分配阶段,目前的研究没有在保证基本通信情况下来尽可能减少通信量;目前多机器人研究多处于模拟仿真阶段,尤其是国内多机器人研究,这很难对多机器人系统的研究有更深层次的了解。本文针对上述问题,设计了适用于多机器人追捕问题的仿真平台,并提出一种带有双向筛选机制的动态任务分配算法来解决通信量问题,最后根据对多机器人系统的研究实现了一种机场近跑道智能化驱鸟系统。本文的主要研究内容如下所述:(1)针对多机器人系统任务分配时存在的通信量过大问题,提出基于合同网任务分配模型的带双向筛选机制的动态任务分配方法,以减少协商过程的通信开销。(2)针对机场现有驱鸟方式的弊端,根据对多机器人系统的研究学习提出一种在机场跑道周边草坪安设可以相互通信的驱鸟设备,利用驱鸟设备的感知能力对入侵跑道周边草坪的鸟类进行驱赶。(3)针对现在多机器人系统仿真研究时存在的一些问题,自主研发协作多机器人智能追逃仿真平台,在追逃仿真平台基础上进行实验分析。
[Abstract]:The cooperative control of multi-robot systems has been a hot topic in the field of multi-robot research. In order to improve the efficiency and quality of multi-robot system, the cooperative control of multi-robot system is studied. In this paper, the multi-target pursuit model is used to study the high efficiency of multi-robot system. Through the conclusion of the research, there are still some problems in the research of cooperative control of multi-robot system: in the task allocation stage of multi-robot system, the current research does not reduce the traffic as much as possible under the condition of guaranteeing the basic communication; At present, the research of multi-robot is in the stage of simulation, especially in our country. It is difficult to have a deeper understanding of the research of multi-robot system. Aiming at the above problems, this paper designs a simulation platform suitable for multi-robot hunting problem, and proposes a dynamic task assignment algorithm with bidirectional filtering mechanism to solve the traffic problem. Finally, an intelligent bird displacement system for airport near runway is realized based on the research of multi-robot system. The main contents of this paper are as follows: (1) aiming at the problem of excessive communication in multi-robot system, a dynamic task assignment method with bi-directional screening mechanism based on contract net task assignment model is proposed. In order to reduce the communication overhead of the negotiation process. (2) in view of the disadvantages of the existing bird drive mode in the airport, according to the research and learning of the multi-robot system, a bird repelling device which can communicate with each other on the lawn around the airport runway is put forward. The bird repellent equipment is used to drive the birds around the runway. (3) aiming at some problems existing in the simulation research of multi-robot system, we develop and develop a multi-robot intelligent escape simulation platform. Based on the simulation platform of pursuit and flight, the experimental analysis is carried out.
【学位授予单位】：山东师范大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
[Abstract]:The cooperative control of multi-robot systems has been a hot topic in the field of multi-robot research. In order to improve the efficiency and quality of multi-robot system, the cooperative control of multi-robot system is studied. In this paper, the multi-target pursuit model is used to study the high efficiency of multi-robot system. Through the conclusion of the research, there are still some problems in the research of cooperative control of multi-robot system: in the task allocation stage of multi-robot system, the current research does not reduce the traffic as much as possible under the condition of guaranteeing the basic communication; At present, the research of multi-robot is in the stage of simulation, especially in our country. It is difficult to have a deeper understanding of the research of multi-robot system. Aiming at the above problems, this paper designs a simulation platform suitable for multi-robot hunting problem, and proposes a dynamic task assignment algorithm with bidirectional filtering mechanism to solve the traffic problem. Finally, an intelligent bird displacement system for airport near runway is realized based on the research of multi-robot system. The main contents of this paper are as follows: (1) aiming at the problem of excessive communication in multi-robot system, a dynamic task assignment method with bi-directional screening mechanism based on contract net task assignment model is proposed. In order to reduce the communication overhead of the negotiation process. (2) in view of the disadvantages of the existing bird drive mode in the airport, according to the research and learning of the multi-robot system, a bird repelling device which can communicate with each other on the lawn around the airport runway is put forward. The bird repellent equipment is used to drive the birds around the runway. (3) aiming at some problems existing in the simulation research of multi-robot system, we develop and develop a multi-robot intelligent escape simulation platform. Based on the simulation platform of pursuit and flight, the experimental analysis is carried out.
【学位授予单位】：山东师范大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
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