针对多机器人控制系统难以精确建模、性能指标最优化难等问题,借鉴自然界事物平衡的思想,提出基于平衡原则的决策控制方法,并结合该方法设计一种机器人任务选择策略调整算法.该算法帮助多机器人系统较好地实现任务自组织分配,使系统取得良好的运行效果. Aiming at the problems such as the difficulty of accurately modeling multi-robot control system, the optimization of the performance index and so on, this dissertation proposes a decision-making control method based on the principle of balance by referring to the balance of nature in the world and designs a strategy for adjusting the task selection strategy of the robot. To help multi-robot system to better self-organization task distribution, the system achieved good results.