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Study On Organization Of Task-oriented Multi-robot System

Posted on:2006-10-15Degree:DoctorType:Dissertation
Country:ChinaCandidate:S Q LiFull Text:PDF
GTID:1118360185491686Subject:Pattern Recognition and Intelligent Systems
Abstract/Summary:PDF Full Text Request
Along with the development of computer technology and substantial research of Multi-Robot System (MRS),as well as the expansion of its application,the amount and scope of robot application are continually expanding. The research on coordination and cooperation of robot team that consist of over 100 robots has been conducted. Due to an increase in amount of robot, the difficulty of communication and coordination among robots will also increase. It becomes more important to study into the issues such as the formation of robot organization and the resolving system, etc.Based on Pre-Research Foundation of CPLA General Equipment Department,Basic R & D Project of Committee of Defense Science and Industry, and Nature Science Foundation of Jiangsu Province,those study focuses on issues related to the design of large-scale robot teams,including framework of MRS, architecture design of individual robot system,organization model of robot teams,establishment of organization, model analysis of organization evolution, and monitoring and control of team operation, etc. The primary work and achievements are as follows:1. On the basis of robot application, in order to establish MRS, the research could be conducted from three aspects: globe level, local level and individual level. Therefore the system performance has been classified in terms of Three Level Model.2. As a well designed task-oriented robot architecture, it is essential to emphasize the capability of robot's real-time reaction, making decision and cooperating with others. However these are not well addressed in a typical architecture, especially the capability of making decision by robot itself. In this research five levels of robot hybrid structure were presented, namely system monitoring level, coordination level, decision-making level, action control level as well as reaction level.3. It studies the measures to set up state roles for robots. Associating the behavior of robot in moving with the distances between it and task, robot will send different signals according to different state roles, therefore results in a reduced the workload of communication. In addition, PRI is also set up among different roles so that it is easy to choose task for robot and to shift manager.4. The organizational model of MRS is described. Separate task teams are assigned so that on one side it will reduce the complexity of coordination and promote robot...
Keywords/Search Tags:Multi-robot systems, large-scale robot teams, robot architecture, organizational structure, allocation of task, cooperation, communication, model
PDF Full Text Request
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