【摘要】：多機器人系統(tǒng)協(xié)同控制問題一直是多機器人研究的熱點問題。通過對多機器人系統(tǒng)協(xié)同控制的研究,來提高多機器人系統(tǒng)執(zhí)行任務(wù)的效率和質(zhì)量。本文以多目標(biāo)追捕為模型,研究多機器人系統(tǒng)的高效完成追捕任務(wù)。通過研究總結(jié),多機器人系統(tǒng)的協(xié)同控制研究還存在一定的問題:在多機器人系統(tǒng)任務(wù)分配階段,目前的研究沒有在保證基本通信情況下來盡可能減少通信量;目前多機器人研究多處于模擬仿真階段,尤其是國內(nèi)多機器人研究,這很難對多機器人系統(tǒng)的研究有更深層次的了解。本文針對上述問題,設(shè)計了適用于多機器人追捕問題的仿真平臺,并提出一種帶有雙向篩選機制的動態(tài)任務(wù)分配算法來解決通信量問題,最后根據(jù)對多機器人系統(tǒng)的研究實現(xiàn)了一種機場近跑道智能化驅(qū)鳥系統(tǒng)。本文的主要研究內(nèi)容如下所述:(1)針對多機器人系統(tǒng)任務(wù)分配時存在的通信量過大問題,提出基于合同網(wǎng)任務(wù)分配模型的帶雙向篩選機制的動態(tài)任務(wù)分配方法,以減少協(xié)商過程的通信開銷。(2)針對機場現(xiàn)有驅(qū)鳥方式的弊端,根據(jù)對多機器人系統(tǒng)的研究學(xué)習(xí)提出一種在機場跑道周邊草坪安設(shè)可以相互通信的驅(qū)鳥設(shè)備,利用驅(qū)鳥設(shè)備的感知能力對入侵跑道周邊草坪的鳥類進行驅(qū)趕。(3)針對現(xiàn)在多機器人系統(tǒng)仿真研究時存在的一些問題,自主研發(fā)協(xié)作多機器人智能追逃仿真平臺,在追逃仿真平臺基礎(chǔ)上進行實驗分析。
[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.
【學(xué)位授予單位】：山東師范大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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