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以多机器人系统为对象,面向多机器人协作跟踪运动目标这一问题,提出了基于任务优先级的多机器人协作策略,使得多机器人系统在任务分解、分配、规划、决策及执行等过程中各机器人个体的功效能够最大程度的发挥,设计的视觉系统软件能够使机器人达到对多通道颜色信息的有效识别,机器人通过区分不同颜色的目标来判断所要执行任务的优先级别。结合了实验室现有的具有全景视觉的open自主机器人,其视野范围可达360°,目标定位更加有效且目标不会在机器人的视野中丢失。实验结果表明,在对彩色目标识别效果良好的基础上,利用多机器人协作能够有效完成对于目标的跟踪,同时,此多机器人系统能够针对不同的任务要求,依据合理的协调策略实现更加合理的任务分配。
In order to solve the problem of multi-robot collaboratively tracking moving targets, a multi-robot system is proposed to solve the problem of multi-robot collaborative tracking of moving targets. The multi-robot cooperative strategy based on task prioritization makes multi-robot systems work well in tasks decomposition, distribution, planning, decision- The effectiveness of individual can maximize the visual system software designed to enable robots to multi-channel color information to effectively identify the robot by distinguishing the different colors of the target to determine the priority of the task to be performed. Combined with the lab’s existing autonomous autonomous robot with panoramic vision, the field of view can range up to 360 °, targeting more effectively and without losing sight of the robot in the field of view. The experimental results show that, based on the good effect of color target recognition, the multi-robot collaboration can effectively track the target. At the same time, the multi-robot system can achieve more reasonable tasks according to different mission requirements and reasonable coordination strategy distribution.