On The Cooperation And Negotiation Tactics Of Robot System Based On Multi-agent

Beginning with the current situation of study on the multi-robot system, this thesis studies the feature and structure of multi-robot system. To take a step further, the typically revolutionary fruits in the multi-robot field are elaborately presented, and the obstacle avoidance and the path planning of multi-robots in the circle of multi-robot system coordination and cooperation based on MAS are mainly analyzed. Following the above analysis and study, the thesis, in the ensuing step, puts forward and realizes the collaborating of task-level and harmonizing of locomotion-level in the multi-robot system. As for the collaborating of task-level, a way to deal with the small-scale task assignment is presented aiming at the issue of motionless task assignment, and afterwards a distributed assignment system which can be applied to multi-robot system is designed pointing to dynamic task assignment. Concerning the harmonizing of locomotion-level, the path planning structure of"global layout and local amendment"is taken and a strategy of clash relieving based on forecast is designed as the local programming method. And the Visual C++6.0 is used during the simulated experiments about the path planning and obstacle avoidance to both single-robot and multi-robot motionless obstacle. The experiment results make clear that the method of task assignment could satisfy the real-timing and optimality of motionless task distribution and the autonomy and robustness of dynamic task assignment, and additionally, the measure of clash relieving has the preferable feature of coordinating. Furthermore, the collision strategy based on intensive learning could effectively realize the robot's initiative programming and enhance its adaptability to environment.