群机器人进行多目标搜索时,通过任务分工形成多个子群,各子群分别针对一个意向目标协同搜索,故围绕子群协同中存在的合作关系和竞争关系提出控制策略.为进行合作协同,建立子群发言人的动态遴选机制,不同子群的发言人进行通信,交换所属各子群的最优信息,引导本子群的搜索行为;为进行竞争协同,引入承包机制,按子群的优势地位高低决定是承包还是放弃对某些目标的搜索.两类协同控制的仿真结果表明,合作协同扩大了机器人的感知范围,竞争协同降低了空间冲突机率.二者综合作用,明显提高了群机器人的搜索效率. In the multi-objective search, the group robot forms a plurality of sub-groups through the division of tasks, and each sub-group searches for a target respectively, so it proposes control strategies around the cooperation and competition existing in the sub-group cooperation.In order to cooperate and establish Sub-group spokesman’s dynamic selection mechanism, spokespersons of different sub-groups to communicate, exchange the sub-group belongs to the best information, and guide the sub-group search behavior; for competition and cooperation, the introduction of contracting mechanism, according to sub-group dominance The level of decision is to contract or to abandon the search for some targets.The simulation results of two types of cooperative control show that cooperative cooperation expands the range of perception of the robot and the coordination of coordination reduces the probability of space conflict.The combination of the two can obviously improve the performance of the group robot Search efficiency.