摘要
多水下机器人系统中机器人之间的协调、协作问题的解决是多机器人系统走向实际应用的基本前提之一.针对多机器人协作问题,讨论了一种称为“市场”框架的多水下机器人系统分布式控制方法,给出了基本的假设、概念和优化过程,并在理论上对该框架的收敛性以及计算复杂度控制等基本特性进行了分析和证明.数值模拟主要针对该框架的优化能力、计算复杂度控制以及容错能力等方面进行了深入的试验分析.其结果与基于GA的集中式控制方法对比表明,基于“市场”框架的多水下机器人分布式控制方法与传统的集中控制方法相比具有更好的优化结果和更短的解算时间.
The problem of cooperation and coordination between various vehicles in a multiple autonomous underwater vehicle system （Multiple AUVS） is a fundamental issue to be resolved before they can be used in the real world. A ＂Market＂ framework for a multiple AUVS distributed control system is proposed,giving basic hypothesis, concepts and algorithms. Theoretical analysis of this system＇s convergence and local computational complexity is also given. Simulations mainly focused on quality of performance, control of complexity, and robustness. The results, when compared with central control systems based on GA, show that this ＂Market＂ framework based on distributed controllers possesses significant advantages in the fields mentioned above.
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
北大核心
2007年第5期491-495,共5页
Journal of Harbin Engineering University
基金
国防科学技术工业委员会基础研究基金资助项目(9140A16070106CB0101)
关键词
多水下机器人系统
协调控制
“市场”框架
拍卖
任务分配
multiple autonomous underwater vehicle system
cooperative control
＂market＂ framework auction
task allocation
