Coordination Control for Multi-Robot System Based on Rational Principle
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摘要: 自组织多机器人系统具有一定的柔性,且鲁棒性强,但系统建模复杂,优化协调控制 困难.以多机器人系统的自组织自约束决策模型为基础,提出了一种多机器人系统的理性协 调控制方法,并分析了这种方法与最优控制方法的关系.Abstract: The self-organizing robot system is flexible but difficult to coordinate the global system behavior with the optimal principle because of the ill-formed problem representation. Based on the self-organizing self-constraint model, a new rational strategy for controlling the behavior of multi-robot system is presented in this paper. The relationship between the optimal method and the rational method is also analysed.
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Key words:
- Multi-robot system /
- decision model /
- rational coordinated control
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