The Research of Multi-robot Cooperation Mechanism based on the Task Allocation Collaboration Mechanism
Qisong Zhang · 2013
This paper studies multi-robot cooperation mechanism as the research object,proposing an improved type contract net algorithm based on traditional contract net method,namely the contract-acquaintance network mechanism.Contract net method is more sensitive to communication,especially communication failure or part of the news lost in the contract negotiation process,which might even lead to loss of system failure;and speed of acquaintances net response will be certain influence.Therefore this paper combines the two methods and put forward a cooperation mechanism that more adapt to the dynamic environment task.This method solves task allocation mechanism under the dynamic environment of global and local dynamic which is based on the contract net combined with acquaintances cooperation mechanism.Finally this paper,by using the simulation test,proves the effectiveness of the improved type contract through the simulation results of MATLAB7.0 and VisualC++ 6.0.