多移动操作机器人协同操作与控制方法与技术研究

在机器人技术向智能化的发展中，多机器人协作是最具挑战的研究领域之一，也是工业界最需要的机器人技术之一。同时，赋予机器人移动操作能力将极大地拓展传统工业机器人应用范围和生产柔性。本项目针对工业环境下多移动操作机器人的协作搬运、操作等应用需求，围绕多机器人的协同操作和协调控制开展创新研究。项目通过分析多机器人协同操作中的高维度、不确定性和任务多样性等挑战性问题，构建多机器人系统感知、规划和决策的理论体系和方法，揭示多机器人紧耦合条件下的协作规律，突破多机器人在未知/非结构化的工业环境下协同操作的瓶颈问题。本项目在多移动操作机器人的分层动态规划、协同感知、协调控制和分布式强化学习等关键科学与技术问题上取得的创新和突破，将为多机器人协作技术在航空航天、国防与工业等领域的应用提供理论和技术上的支撑。

In the development of intelligent robotic technologies, multi-robot cooperation is one of the most challenging research fields, and it is also one of the most needed robotics technologies in industry. At the same time, the mobile manipulation ability of the robot will greatly expand the application scope and production flexibility of the traditional industrial robot. Aiming at the application requirements of cooperative transportation and manipulation of multiple mobile manipulators in the industrial environment, this project carries out innovative research on the cooperative manipulation and coordinated control of multi robots. Through the analysis of challenging problems in collaborative manipulation, e.g. high dimension, uncertainty and diversity of tasks, we systematically investigate the theory and method of multi robot system perception, planning and decision-making, reveal the cooperation method of tightly coupled multi robots, solve the bottleneck problem of cooperative manipulation in unknown / unstructured industrial environment. The project will produce innovative methods in multi-layered dynamic programming, cooperative perception, coordinated control and distributed reinforcement learning for multi mobile manipulators, which will provide theoretical and technical support of multi robot cooperative technology to the applications in aerospace, defense and industrial fields.