The Research Of Multi-robot Cooperation Simulation And Monitoring System Based On Java

Nowadays, studies on Multi-robot cooperation and control have been a new progress direction. Overview the development history and trend of the studies on Multi-robot cooperation, the cooperation system is progressing from simple control system to intelligent independent system. The paper focuses on constructing an entire monitor system based on Java. It can achieve robot control, robot cooperation simulation and connecting robots for cooperation experiment; besides, it combines them organically.Firstly, this thesis reviews the development and current research situation of Multi-robot system and expatiates the main problems of Multi-robot cooperation. It also analyzes L-φ fonnation arithmetic in detail and then improves it according to the mechanical structure of the robots. Afterwards, a simulation of it is progressed under the Matlab platform to achieve the simulation charts and data analysis maps of the linear formation for two robots, the triangle formation for three robots and the square formation for four robots. Based on the above, a switch leader idea and formation arithmetic for avoiding the obstacle are proposed and simulated under Matlab, which proves that the new arithmetic is right and feasible.The system software is developed with Java language. Based on Java swing programming and web programming, the top monitoring interface is built to communicate with the bottom robot and display the position information from the robots. The system employs the Java Database Engine to link the SQL database to achieve the analysis, storage and management for the received data. Finally, the paper accomplish and test the arithmetic module, simulation and display module, communication module, motion module and so on. Their simulations have also been made.Two online experiments are designed to test the whole system's function. One is to control the robot moving to the goal with mouse; the other is to control the fonnation of the bottom robots with the formation and cooperation arithmetic of the upper layer. The results indicate that the system can achieve the above functions well.