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多机器人系统协调是一个影响系统效率的重要问题。传统的基于规划和学习的方法,因为都需要自上而下的设计或督导信息,在复杂环境下的适应能力有限。自组织是一种非常有效的自下而上的设计思路,但具体实现的系统很少。本文引入了单个机器人“个性”的概念,设计了代表个性的价值函数和个性演变的方式,通过机器人个性不同来影响机器人的决策,从而实现了多机器人系统的自组织协调。仿真说明了这一思想的有效性。
Multi-robot system coordination is an important issue affecting system efficiency. Traditional planning and learning-based approaches require top-down design or supervision of information and limited ability to adapt in a complex environment. Self-organization is a very effective bottom-up design ideas, but the system is very small. In this paper, we introduce the concept of single robot “personality ”, design the value function that represents individuality and the way of personality evolution, and influence robot’s decision-making through different robot’s personality, so as to realize the self-organization coordination of multi-robot system. Simulation shows the validity of this idea.