星球探测系统的多机器人组内协作研究

建立了子机器人的控制模型,提出了分散式控制与集中式控制相结合的复合控制体系。采用动态分配ID号和由ID号确定机器人组中领导者的机制,建立了有领导者的机器人组的协作方法。其中,领导者与监控平台之间采用无线通讯,机器人组内采用CAN(control area network)总线传递控制信号。同时采用组内基于状态表匹配的控制方式。两个机器人组合利用以上机制,通过相互协调完成差速转弯的实验验证了该控制方法的可行性。

The control model of each robot in the robot team is constructed.A compound control architecture which combined the distributed and centralized control is put forward.The coordination method with a leader in the robot team was adopted.The ID number of every robot were allotted dynamically and the leader was elected according to the ID information.The wireless communication is used between the leader and the monitor platform,CAN bus and the control method based on a state table were utilized among the robot team.Finally,the experiments in which two robots turned around with differential velocity validate the control architecture.

国家“863”高科技项目(2006AA04Z254)资助