提出一种适用于多移动机器人的路径规划算法；
Present the method of the path planning algorithm for the multiple mobile robots system;
本文研究合作型多移动机器人系统的分布式控制方法。
The distributed control method in cooperative multiple mobile robot systems is studied.
运动协调是多移动机器人系统领域的主要研究热点之一。
The issue of motion coordination is one of the most important research problems of multiple mobile robots system.
近年来，多移动机器人协调控制问题逐渐成为机器人学中的研究热点。
Coordinated control of multiple mobile robots is becoming a hot topic in robot field recent years.
论述了一类通用的经过通信信道进行协调的多移动机器人编队控制系统。
A class of general multiple mobile robots formation control system of achieving coordination through communication channel was described.
多移动机器人的协调规划、决策与任务分配问题属于机器人系统上层控制问题。
The coordination of multiple mobile robots, decision making and task assignment are upper level control issues of the robot system.
本文主要研究了多移动机器人协调系统中的多移动机器人路径规划算法与导航系统。
This paper addresses path planning algorithm and navigation systems for multiple mobile robots in multiple robots coordinated system.
论文首先简单的介绍了多移动机器人的热点研究方向及国内外对这些方向的研究情况。
Firstly, this dissertation introduces some popular topics and the research progresses in the world in multi-robot field.
多移动机器人系统中，随着机器人数目的增加，系统中冲突呈指数级增加，甚至发生死锁。
In multiple mobile robot systems, interference will increase exponentially with the increase of the number of robots, even deadlock will occur.
实验结果表明了本论文研究的基于人工势场理论的多移动机器人协同控制的可行性和有效性。
The results demonstrate the correctness of the control law of coordinated control model and reveal the validity and the availability of the new APF model and the swarm model.
本文将多移动机器人组成队形的整体行为分解为机器人个体分别向对应目标点运动的子行为加以研究。
The whole behavior of generating formation of multiple mobile robots is divided into sub behaviors of individual mobile robot moving to corresponding goal in this paper.
最后，对上面提到的单移动机器人和多移动机器人的各种控制模型进行了仿真实验，并对仿真结果进行了分析，提出了相应的问题。
Finally, simulations are presented about the above coordinated control models of single mobile robot and multiple mobile robots. The results are analyzed and corresponding problems are introduced.
本论文以多移动机器人协作解决追捕—逃逸问题为背景，对多机器人协作问题中的系统体系结构、任务层的协作与协调、行为层的规划等几个方面进行了研究。
In the thesis, the problems such as system architecture, the cooperation and coordination in task layer, the way of planning in behavior layer are discussed based on the 'pursuit-evasion 'game.
针对非结构化环境对小型移动机器人的运动要求，设计了一种具有多驱动模式的轮腿式机器人。
Aiming at the moving requests of miniature mobile robot on unstructured environment, a wheel-legged robotic platform with multi-configuration was developed.
因此，移动机器人系统涉及的关键技术包括多传感器数据集成与融合、环境建模、控制体系结构和路径规划以及学习机制等。
So main researches in the field of mobile robot are focus on multisensor integration and fusion, world model, control architecture, path planning and knowledge learning etc.
提出了一种采用单目视觉和多超声传感器来识别门牌号的室内移动机器人全局自定位方法和导航策略。
This paper proposes a global self-localization method and navigation strategies for indoor mobile robot, based on monocular vision and multi-sonar sensors to recognize the doorplate.
针对单个操作者对多个移动机器人遥操作的困难，提出了基于行为优先和任务协调的多机器人遥操作方法。
Aimed at the difficulty of teleoperation for multiple mobile robots by a single operator, a multi-robot teleoperation approach based on the behavior priority and mission coordination is presented.
本文以轮式移动机器人协调控制为背景，对多机器人的编队行为进行了研究。
In this thesis, based on the background of the wheeled mobile robot cooperation control, the multi-robot team formation is studied.
本文结合参与的“多机器人系统协调”项目，研究两轮差动驱动的移动机器人路径跟踪控制问题。
According to the project "multiple mobile robots system coordination", this paper studied the path following control problem of two wheels robots with differential steering.
研究移动机器人视觉系统及其摄像机标定、多传感器信息融合、导航控制理论与方法具有非常重要的意义。
It is significant to research on mobile robot vision system and the related technology, such as camera calibration, multi-sensor fusion, robot navigation and control theory.
自主微小型移动机器人的协作学习研究是多智能体机器人系统理论的主要研究方向。
The issue of cooperation learning for autonomous micro-mobile robot is the main problem of multi-agent robot system theory.
动态未知环境下的移动机器人路径规划必须基于多传感器信息融合来获得对环境的理解或映射。
Pathe planning of mobile robot must be based on multi-sensor information to attain the comprehending and mapping of environment.
移动机器人的研究涉及到人工智能、控制理论、传感器技术和计算机科学等多门学科。
The Mobile Robot has close relation to many technologies such as artificial intelligence, control theory, sensor technology and computer science.
论文结尾对全文进行了总结并对多机器人系统的协作的进一步研究、对移动机器人路径跟踪的深入探讨进行了展望。
The summary of the full text and the view of mobile robot research in multi-robots cooperation and path track have been shown in the end of thesis.
多机器人协作可以明显提高机器人系统完成任务的效率，是移动机器人研究领域的一个重要问题。
With the development of the multi-robot coordination, the working efficiency of the multi-robot system is improved, and the tasks can be finished better.
作为一个复杂的智能控制系统，智能移动机器人涉及人工智能、控制理论、传感器技术和计算机科学等多门学科。
As a complicated intelligent control system, the mobile robot has close relation to many technologies such as artificial intelligence, control theory, sensor technology and computer science.
利用模糊PID复合控制器实现移动机器人的轨迹控制 ，利用陀螺、磁罗盘、里程计进行多传感器融合定位。
To solve the problem, this paper presents an integrated method. Fuzzy PID Controller is used for trajectory control.
利用模糊PID复合控制器实现移动机器人的轨迹控制 ，利用陀螺、磁罗盘、里程计进行多传感器融合定位。
To solve the problem, this paper presents an integrated method. Fuzzy PID Controller is used for trajectory control.
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