Research on Multi-robot Intelligent Fusion Technology Based on Multi-mode Deep Learning
Yang Sun；Shoulin Yin；Lin Teng
Grab Classifier ； Multi-robot Distributed Self-organizing Task Allocation ； Multi-robot Intelligent Fusion ； Path Planning
International Journal of Electronics and Information Engineering
|Volume or Term/Year and Month of Publication||
12卷3期（2020 / 09 / 01）
119 - 127
In this paper, we focus on the multi-robot intelligent fusion technology based on multi-mode deep learning method. And we briefly propose three new schemes in the multi-robot intelligent system. 1) A grab classifier based on deep learning is established. This paper constructs a grab classifier based on multi-mode deep learning algorithm, which realizes the precise classification of grab rectangles. 2) A multi-robot distributed self-organizing task allocation algorithm based on multi-mode fusion is proposed to solve the problem of resource competition conflict in distributed task allocation and the problem that the solution quality and solving cost are difficult to coordinate. 3) Aiming at the path planning problem of multi-robot system without communication under un- known dynamic environment, a multi-robot path planning and dynamic collision avoidance system based on two-layer fuzzy logic is designed. Finally, experiments show that the proposed methods have better results than other approaches.