As one of the modern high technologies , robotics has been developed and widely used in various industries , which greatly promotes the progress of productivity .However , when the task is complex which single robot can not achieve it , multi-robot co-operation is needed to complete the work .The significance of multi-robot cooperation is not the function superposition of each one .The solving task of multi-robot system is seeking one or more robots that can perform tasks coefficient in the system .And more, the robot group is a combination of the lowest price of the task .Depending on the type of task , the multi-robot cooperation was divided into three different forms: sequential cooperation , synchronous cooperation and free cooperation .Researches of the three forms of cooperative planning and path optimization were achieved through the optimization algorithm of design .The feasibility and correctness of the method are verified by simulation .%机器人技术作为现代高新技术之一,在各行业得到了蓬勃的发展和广泛的应用,大大促进了生产力的发展.在任务复杂时,单机器人无法胜任,就需要多机器人协作来完成工作.各子机器人协同合作时,并不是简单的功能叠加.多机器人系统求解任务就是通过寻找系统联盟中能够执行任务的一个或多个机器人,并且该机器人组合是完成该任务时代价最小的一个组合.作者根据任务类型不同,把多机器人的协作形式划分为顺序协同、 同步协同和自由协同3种形式,通过设计的优化算法,研究了3种形式下如何协同规划及路径优化,并经仿真实例验证了方法的可行性、 正确性.
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