基于协作协进化的多机器人协作机制研究

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1、浙江工业大学硕士学位论文基于协作协进化的多机器人协作机制研究姓名：汤琼申请学位级别：硕士专业：计算机应用技术指导教师：杨东勇20040401婴圭兰竺笙兰二二苎王垫堡堡丝垡塑兰垫壁垒塑堡垫!!堡壅MULTI—AGENTC00PERATIoNMECHANISMBASEDoNCOOPERATⅣEC0一EVOLUTl0NABSTRACTCooperationisoneofthekeyproblemsoftheautonomousmum-agentroboticsystemallthetime．Inthetask

2、thatmulti—agentmovemulti-objectcooperatively,thecooperationeffectisnotoptimalbytheprotocolsexisted．So,itisnecessarytolucubratethemulti-agem’Scooperationmechanism．Inthispaper,thecooperationmechanismofmulti—agentbasedoncooperativeCO—evolutionisproposed，wit

3、hwhichthetaskcanbecompletedinshortertime．Atfast,theareaswitllthesamesizealeassignedtotheagents．andeachagentsearchestheobjectsinitsarea．Then,witllthereferenceoftheagent’Sidealcost；the0bjectsareassignedtoeveryagentbalancedthroughthetwoassignmentprocessesof

4、thetaskdecomposition．Andthen，theinitialpopulationscorrespondingtoeachagentarecreatedinwhichanindividualismadeupofthepermutationoftheobjects’numberrandomly．Andthen，duringtheevolutionsofthepopulations,thenewindividualsareevaluated，andanindividualisendowedw

5、ithhigherfitnessifitcooperatesmoreeffectivelywiththerepresentativesoftheotherpopulations，otherwise，lowerfitnesswillbeendowed．Duringthepopulations’subrogation．theindividuals、^，i吐llowerfitnessinthefathergenerationarcreplacedwiththenewindividualswithhigherf

6、itnesstoformanewgeneration,suchthat,thepopulationsevolvetothedirectionofbettercooperationamongtheagents．Atlast，theobjectsaremovedaccordingthesequencethattheagentsgetaRerthepopulations’CO-evolutionends．11——一——堡主堂堡笙苎=二墨±堕堡堡些些堕童垫壁△塑堡垫型旦塞Withthismechanism，an

7、experimentthatthreehomogeneousagentrobotsmoveeight0bjectsbycooperationhasbeendone，andthroughwhichtheresultthatthebettercooperationeffectbythemulti—robotbasedoncooperativeCO-evolutionisgainedcomparedwiththeprotocolsexisted．Thetestprocessshowsthatthestabil

8、ityofthemechanismisgood，andthealgorithmisconvergent．Therefore，thecoopermionefficiencyofthemulti·robotsystemcarlbeimprovedunderthisnewcooperationmechanism．Andtheaccomplishmemofthenewcooperationmechanismnotonlyenrichesanddev