露天煤矿下多机器人协同煤矿搬运方法研究

针对露天煤矿下多机器人协同煤矿搬运问题,建立了由控制中心、无线网关和无线传感器组成的无线传感器网络来控制多个机器人协同工作.为了实现高效的合作,以任务完成时间衡量机器人的合作效率,提出了基于效率最优的任务分配机制,采用蚁群算法,由控制中心进行集中式任务分配,并通过无线传感器网络告知机器人,实现了多机器人合作.利用无线传感器节点的定位信息,采用基于到达时间差的定位方法实现了机器人定位,使得机器人可在露天煤矿自主搬运煤矿.搭建了无线传感器网络,并用Pioneer III机器人和能力风暴机器人模拟煤矿搬运,模拟结果证明提出的方法可以实现露天煤矿下多机器人的协同控制,使机器人在最短的时间内完成任务.

Research on multi-robot coordinated coal transporting in open-air coal mine

To solve the problem of multi-robot coordinated coal transporting in open-air coal mine, a wireless sensor network, composed of control center, wireless gateway and wireless sensors, was presented to control multi-robot. In order to cooperate efficiently, the task finish time was taken as the working efficiency and the efficient optimization based multi-robot task allocation mechanism was proposed. By using ant colony algorithm, the tasks were allocated by the control center and informed to robots via wireless sensor network, so the multi-robot coordinated control was realized. Adapting time difference of arrival (TDOA) based approach, the robot localization was realized by using the localization information provided by wireless sensors. A wireless sensor network was set up, and Pioneer III and Grandar robot was used to simulate multi robot coordinated coal transporting in open air coal mine. Simulation results show that this method can realize the multi-robot coordinated control in open-air coal mine, and the robots can finish the tasks cooperatively with the least time.