Scheduling, organization and cooperation system and method for multi-robot system

Abstract

The invention discloses a scheduling, organization and cooperation system and a scheduling, organization and cooperation method for a multi-robot system. By adoption of distributive mode architecture, the information interaction is reduced, the systematic resources are used fully, the activity and the problem solving level of the overall system are enhanced, and the ability of intelligent coordination and flexible cooperation among a plurality of robots is enhanced. The method and the system intelligently perform scheduling and cooperation, reduce the communication traffic, reduce the systematic consumption, well adapt to a dynamic environment and complicated dynamic tasks, and enhance the problem solving capability by employing a dynamic decision maker scheme, namely every robot may be atask decision maker. According to the invention, a bulletin is used, a method of making a robot actively check the bulletin to acquire task information in an active free (capability) state is adoptedand the selection of the best can be finished during checking, so that the information interaction is reduced, the information processing and comparison process is simplified, the communication traffic is greatly reduced and problems of information blocking and wastes of the systematic resources are solved.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a system and method for dispatching, organizing and cooperating of a multi-robot system. Background technique [0002] With the continuous expansion of robot functions and fields, flexible intelligent robots have replaced traditional rigid robots with single functions and become the main research direction today. However, in a multi-robot system, a large amount of information interaction and negotiation are required in the process of task execution among the robots in a dynamic and uncertain environment. However, with the increase in the number of robots, the communication pressure and coordination difficulty between robots also will increase significantly. However, there are a lot of problems such as information congestion in traditional multi-robot system communication; the centralized or hierarchical mode adopted in the organizational mode reduces the activity of the entire syst...

AI Technical Summary

Problems solved by technology

However, many methods used in these studies to deal with the problems of task allocation and cooperation in the multi-robot scheduling system can adapt to the dynamic changes of the subject's ability and environment, reduce communication traffic, and improve the problem-solving ability and activity of the entire system. There are still many problems in performance optimization and other aspects

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