分布式多机器人装配系统任务合作规划算法研究

:综述了多机器人系统任务规划的研究 ,介绍了基于 Agent的分布协作式多机器人装配系统 ,给出了分布式多机器人系统任务协商规划算法 ,采用了改进的合同网协议方法。针对多机器人任务规划算法的软件实现 ,采用了先进的分布式对象技术 ,介绍了算法的具体实现方法

This paper deals with task planning of a cooperative distributed multi-agent-based robot system—an assembly experimental system—DAMAS (Distributed Agent-based Multi-robot Assembly System).Concerning the architecture, the main contribution is the existence of Agents representing robots together with one special Agent representing assembly object. The well known Contract Net protocol has been adopted and extended to handle the negotiation problem among multi-robots. The detailed cooperative assembly algorithm is given. In implementation of this algorithm, dynamic virtual monitor is proposed and implemented. The advanced Distributed Object Technology (DOT) is adopted as an implementation tool.

国家自然科学基金资助项目! ( 6960 5 0 0 5 );;国家 863高技术研究发展计划资助项目! ( 863 -5 12 -980 5 -14)