MANETs网络环境下的异构移动多机器人协同控制系统任务分配机制的研究

项目名称： MANETs网络环境下的异构移动多机器人协同控制系统任务分配机制的研究

项目编号： No.61202432

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 计算机科学学科

项目作者： 米振强

作者单位： 北京科技大学

项目金额： 24万元

中文摘要： MANETs网络环境与多机器人系统协同、任务分配机制相融合的研究因其学科交叉性强，建模难度高等特点未得到深入地探讨。 同时，随着多机器人系统应用环境日趋复杂，传统任务分配策略已经不再适用于目前的系统要求。针对上述问题，本项目将重点研究MANETs环境下的异构自主移动多机器人协同系统任务分配机制。本课题包含以下三个主要部分：1） 提出一个跨层次的基于MANETs的多机器人系统跨层次代价函数族， 为异构多机器人系统建模与任务分配架构设计提供准确的衡量指标；2）提出异构机器人平台下以任务为服务叠加层的多终端网络建模方法，从而为异构多机器人网络提供一种强大的模型化分析工具；3）在代价函数族的约束下，设计一系列以网络连通性为基础的异构多机器人任务分配策略。本项研究将为解决异构平台下的多机器人系统的体系设计、任务执行与部署提供强大的技术支撑，在我国多机器人系统的理论研究与实用化道路上发挥基础性的作用。

中文关键词： 多机器人系统；传感器网络；任务分配；连通性；MANET

英文摘要： The research of MANETs based multi-robot consensus and task allocation is far from mature, due to its extreme complexity. However, to deal with the more complicated modern application environment, it is vital to develop new methods for multi-robot task allocation. In this project, the problem of task allocation is addressed particularly for MANETs based heteogeneous autonomous cooperative mobile multi-robot systems. 1) A class of cross-layer weighting functions will be proposed for MANETs based multi-robot systems. The proposed functions can provide accurate parameters for designing the task allocation framework. 2) A SONs based mobile multi-robot network model will be developed, where the specific tasks are treated as overlayed layers. Then, a powerful set of tools for analyzing and modeling mobile multi-robot system will be provided. 3) A class of connectivity preserving task allocation strategies for MANETs based heterogenous cooperative mobile multi-robot systems will be finnally developed with the aids of cross-layer weighting functions. The research in this project may provide a compact set of methods for the design and development of networked heterogenous mobile multi-robot system and its implementations in task allocation problems, and play as a fundamental role in both the theoretical and practical dev

英文关键词： Multi-robot systems；mobile sensor networks；task allocation；connectivity；MANET