机器人集群的智能协同控制理论与方法

本项目面向国家未来发展需求，在融合无线网络通信理论、分布式信息融合理论、人工智能方法和控制理论的基础上，研究机器人集群的智能协同控制理论与方法。综合考虑集群机器人系统网络的通信特性、网络的拓扑结构及智能个体的动力学特性等因素，对群机器人在复杂动态环境下的建模进行研究；从多机器人系统网络组网、数据路由机制以及通信服务质量保障入手，研究异构机器人集群系统的无线网络数据传输机制；探求机器人集群系统分布式协同定位方法；研究复杂网络环境下机器人集群系统的智能避撞编队协同控制方法；以多无人机/无人车为研究对象，构建无人机/无人车避撞编队实验平台。该项目拟形成一套复杂网络环境下多机器人系统的建模、无线网络数据传输、分布式信息融合和智能协同控制的一体化综合分析方法，并开发多机器人实验平台，进行无人机/无人车编队避撞实验，为多机器人系统在国民经济和国防建设中的应用提供理论和技术指导。

For the national future development demands, the project is concerned with intelligent cooperative control theory and method for swarm robot systems, which based on wireless network communication theory, distributed information fusion theory, artificial intelligence methods and control theory. With communication characteristics, the topology structures of the network and the dynamic characteristics of the intelligent individual considered, the model of the robot swarm systems in the complex dynamic environment will be studied. Proceeded with the multi-robot system network networking, data routing mechanism and quality of service guarantee of wireless communication, wireless network data transmission mechanism of heterogeneous swarm robot system will be researched. The distributed cooperative localization method of swarm robot systems will be explored. Formation control methods for robot swarm system with intelligent collision avoidance in the complex networks will be investigated. A robot swarm experiment platform will be built and multi-UAV/UGV formation experiment with collision avoidance shall be implemented. This project aims to form an integrated comprehensive analysis method for modeling, wireless network data transmission, distributed information fusion and intelligent cooperative control of robot swarm systems in complex network environment. Researching in this area would provide the theoretical guidance and technical support for the applications of networked robot swarm systems in national economy and national defense construction.