中文摘要：

提出了一种基于学习分类器的多机器人混合分层体系结构.体系协作规划层中的人工势场栅格法、协调规划层的学习分类器广播操作及行为控制层的多机器人DSP控制系统,易于实现多机器人间的通信联络及系统的扩充,提高了整个多机器人系统的实用性、实时性和可靠性.

英文摘要：

The paper proposes a hybrid hierarchical architecture in multiple robot system based on improved learning classifier system. In the system cooperation-planning layer,artificial potential field grid method,learning classifier broadcast operation of coordination-planning layer and mobile control platform in multiple robot system of behavior-control layer,easy to realize the multiple robot signal communication and system＇s expansion,enhanced the entire multi-robot assembly system＇s practicality,real-time and reliability.