网络环境下基于Agent的多机器人协调与路径规划

本文针对基于Ａｇｅｎｔ的分布协作式多机器人装配系统——ＤＡＭＡＳ的特点，在原有工作的基础上，提出了网络环境下基于Ａｇｅｎｔ的路径规划思想，重新定义Ａｇｅｎｔ各功能模块的内容，建立系统中的通讯机制．同时，介绍了系统进行路径规划的工作过程，给出了路径规划器的规划算法

This paper  present a new strategy for path planning according to the characteristic of multi  robot assembly system. The strategy is based on Agent under network. On the basis of the previous work, the content of each function module for Agent is redefined and the communication protocol of the system has been built. Moreover,the procedure of path planning is addressed and the algorithm for path planning is given.

国家863计划;;国家自然科学基金资助!资助号863—512—9805—14