基于群體智能理論的群體機器人協(xié)作系統(tǒng)研究.pdf

1、蘭州理工大學(xué)碩士學(xué)位論文基于群體智能理論的群體機器人協(xié)作系統(tǒng)研究姓名：楊超申請學(xué)位級別：碩士專業(yè)：機械制造及其自動化指導(dǎo)教師：楊萍20100413基于群體智能理論的群體機器人協(xié)作系統(tǒng)研究皇曼曼鼉皇舅曼量皇曼曼I一I—III—II!曼曼曼!!寞曼!曼曼鼉曼量曼蔓曼曼曼皇曼鼉曼曼曼舅曼曼皇皇!曼曼AbstractGrouprobotcooperativesystemisallimportanttopicintherobotsystemres

2、earchInthispaper，allextensiveliteratureongroupbasedontheinformationcontentofrobotcooperationsystemandthecurrentresearchwereanalyzedandsummarizedBasedongametheory，antcolonyalgorithmandparticleswarmoptimizationbasedontheth

3、eoryofswarmintelligence，agroupofthebasicprinciplesofrobotcooperativesystem；setupgroupsofmathematicalmodeloftherobotpathplanning；theintroductionofspeedoptimization，buildintelligentrobotsobjectivedynamictracking；establishe

4、dacooperationmodelofmacrocoordinationmechanismtoaddresstheexistenceofgroupconflictsrobotcooperationsystemUsingPICMCU—based，infraredsensorsforthesysteminputDCmotorPWMcontrolsignalforthesystemoutput，thedevelopmentofgroupro

5、botarchitecture，andtoswarmintelligencetheory，thepreparationofthehardwarecontrolprogram；tobeobject。orientedvisualprogrammingsoftwareasaplatform，developedwithgroupsofmanmachineinterfacerobotsoftwareGroupshavebeenestablishe

6、dusingtheexperimentalrobotsystemasaplatformfordifferenttasks，bystudyingthepopulationstructureofthedistributionsystemmodelandcontrolstrategyoptimization，inordertoconductthesystemtoachievethegoalforthegroupqueuerobotcollab

7、orationexperiment，analysisofexperimentalresults，verifytheentiregrouprobotcooperativesystemstableandreliableoperationcanbe，thatthemethodappliedtogroupsofrobotcooperationplatformwithgoodresultsKeyWords：antcolonyalgorithm；p