Multi-robot System Based On Mas Coordination Mechanism Study

With the development of computer technology, controlling technology, sensing technology, artificial intelligence theory, and etc., the robot technology is getting the development advancing by leaps and bounds. Since the 1980's, with the development and wide application of the robot technology, the application of robots begins to change from the single style to the system style. The groups of robots which work together as a production engineering system have appeared in auto industry, engineering machinery, building trade, etc. And multi-robot systems are also becoming the focus and trend of the study and application of the robot technology.Based on analyzing the development prospect and current research of the multi-robot system in depth, this thesis demonstrates that it's reasonable and effective to make full use of research results in present artificial intelligence field, especially the theory of MAS (Multi-agent system) in the distributed artificial intelligence field for the research of the multi-robot system. In terms of this opinion, the thesis carries on the research of the multi-robot system based on the theory of MAS. This thesis is supported by the Innovation Seed Fund for Graduate Student of Northwest Polytechnical University (NO.Z20030058P).The detailed content in the thesis is described in follows:1. The thesis summarizes the present research on the multi-robot system and presents the deficiency in the research. According to the trend of the research and development in the multi-robot technology field, it also further investigates the theory of MAS in the distributed artificial intelligence field in terms of the characteristics of distributed problems in the multi-robot system.1. Based on the further investigation of the MAS theory, the thesis completes the research on the systematic structure of the multi-robot system, and designs a system structure model of the multi-robot system in the dynamic and complicated uncertain environment, and put forward a systematic hierarchical structure model and a kind of composite robot Agent structure.2. The thesis analyses further the present research on the Key problems of multi-robot systems, such as coordination&cooperation, communication and study problem, and defines the application characteristics and advantages of various methods of solving these problems. It also presents an opinion of making full use ofrelevant research contents and results in the theory of MAS to solve those similar problems in multi-robot systems.3. The thesis researches further the cooperation mechanisms of the multi-robot system, and turns the systematic cooperation problem into a system optimization and self-adaptive problem. On the basis of analyzing the theory of GA (Genetic Algorithms) which is a popular method solving optimal and adaptive problems, it also applies the EC (Evolutionary Computation) to the systemic cooperation mechanism, and complete the design and simulation of the algorithm.It is of innovation and pioneering on the research contents and research approach, and there is higher reference value on further research of multi-robot systems. The thesis also completes some fundamental work to the further research and popular application of multi-robot systems in the future.