Distributed Task Allocation of Multiple Robots: A Control Perspective
Distributed Task Allocation of Multiple Robots: A Control Perspective
复制标题
多个机器人的分布式任务分配：控制视角
DOI：
10.1109/tsmc.2016.2627579
复制
发表时间：
2018-05-01
影响因子：
8.7
通讯作者：
Li, Shuai
中科院分区：
文献类型：
--
作者：
Jin, Long;Li, Shuai
本文研究了冗余度机器人网络中的动态任务分配问题，其中n个冗余度机器人（n > k）被分配执行目标跟踪任务。鉴于机械手运动学的相互作用和机械手之间激活的动态竞争，这个问题本质上是具有挑战性的。为了处理这样一个复杂的问题，分布式协调控制律的开发与有限的通信和援助的共识过滤器的多个冗余度机器人之间的动态任务分配。此外，给出了一个定理及其证明，以保证所提出的分布式控制律的收敛性和稳定性。最后，一个说明性的例子提供和分析，以证实所提出的控制律的有效性。
The problem of dynamic task allocation in a distributed network of redundant robot manipulators for path-tracking with limited communications is investigated in this paper, where k fittest ones in a group of n redundant robot manipulators with n > k are allocated to execute an object tracking task. The problem is essentially challenging in view of the interplay of manipulator kinematics and the dynamic competition for activation among manipulators. To handle such an intricate problem, a distributed coordination control law is developed for the dynamic task allocation among multiple redundant robot manipulators with limited communications and with the aid of a consensus filter. In addition, a theorem and its proof are presented for guaranteeing the convergence and stability of the proposed distributed control law. Finally, an illustrative example is provided and analyzed to substantiate the efficacy of the proposed control law.