基于行为的分布式多智能体系统

吉林大学学报(工学版) ›› 2002, Vol. ›› Issue (1): 93-96.

基于行为的分布式多智能体系统

王海¹, 田彦涛¹, 崔茂源¹, 史之军²

1. 吉林大学通信工程学院机器人学实验室, 吉林, 长春, 130025;
2. 中国人民银行白城市支行, 吉林, 白城, 137000

收稿日期:2001-07-21 出版日期:2002-01-25
基金资助:
中科院机器人学开放研究实验室资助项目

Behavior-based Distributed Multi-agent System

WANG Hai¹, TIAN Yan-tao¹, CUI Mao-yuan¹, SHI Zhi-jun²

1. Robotics Laboratory, College of Communication Engineering, Jilin University, Changchun 130025, China;
2. Baichen Subbranch Bank, People's Bank of China, Baichen 137000, China

Received:2001-07-21 Online:2002-01-25

摘要/Abstract

摘要： 提出了一种基于行为的分布式多智能体结构,在此基础上设计并建立了一个多自主机器人系统实验平台。允许系统中的各移动机器人分布式通讯、规划和控制。系统仿真和实验结果证明了系统能正确地完成不同的任务。

关键词: 多自主机器人, 分布式控制, 基于行为的控制, 多智能体系统, 分布式人工智能体

Abstract: Since the conventional control techniques are not suitable for the dynamical systems,this paper presents a behavior based distributed multi agent architecture.Based on this architecture,a Multiple Autonomous Robots(MARS) system is designed and established.The mobile robots permit distributed communication,planning and control.By implemented in simulation and on robots,the results demonstrate their appropriateness in different types of mission.

Key words: multiple autonomous robots(MARS), distributed control, behavior based control, multi agent system, distributed artificial intelligence(DAI)

中图分类号:

TP242.6

王海, 田彦涛, 崔茂源, 史之军. 基于行为的分布式多智能体系统[J]. 吉林大学学报(工学版), 2002, (1): 93-96.

WANG Hai, TIAN Yan-tao, CUI Mao-yuan, SHI Zhi-jun. Behavior-based Distributed Multi-agent System[J]. 吉林大学学报(工学版), 2002, (1): 93-96.

参考文献

[1] 崔茂源,田彦涛,赵中琪.基于模糊逻辑的自主移动机器人实时滚动路径规划［J］.吉林工业大学学学报,1999,29(1):58～73.
[2] 陈忠泽,林良明,颜国正.基于MAS(Multi-Agent System)的多机器人系统:协作多机器人学发展的个重要方向［J］机器人,2001,23:368～373.
[3] Steven M, LaValle, Seth A. Hutchinson. Optimal motion planning for multiple robots having independent goals［J］. IEEE Transactions on Robotics and Automation, 1998, 14:912～925.
[4] Tucker Balch, Ronald C Arkin. Behavior-bascd formation control for multirobot teatns［J］. IEEE Transactions on Robotics and Automation, 1998, 14: 920～939.
[5] Ratnesh Kumar, James A Stover. A bchavior-based intelligent control architecture with application to coordination of multiple underwater vehicles［J］. IEEE Transactions on Robotics and Automation, 2000, 30: 767～ 784.
[6] Asama H, Ozaki K, Matsumoto A, etc. Development of task assignment system using communication for multiple autonomous robots［J］. J. Robot, 1992, 4: 112～127.
[7] Lynne E. Parker. ALLIANCE: an architecture for fault tolerant multirobot cooperation［J］. IEEE Transactions on Robotics and Automation, 1998, 14: 220～ 240.
[8] Bond A, Gasser L. Readings in distributed artificial intelligence［M］. San Matco, CA:Morgan Kaufmann, 1988.

Metrics

Viewed

Full text

Abstract

Cited

Shared

Discussed