Based Multiagent Micro Robot Architecture

STR (Small Tracklayer Robot) can work in the environments both of the door and outdoor. It is new weapon equipment for army and national security as an important motor platform, which can be widely used in counter terrorism, guarding blast and detecting dangerous environments, etc. Since the limits of its small volume, the computing resource is not rich on STR. In this paper, basing on the theory of multi-agent, the architecture of STR was successfully designed and implemented.In this paper, several architectures of intelligent robots were introduced first. Then the characteristics of these architectures were summarized. By studying these characteristics, a modeling method based on quintuples was presented, which was suitable for the designing of the small robot architecture. Using this method, the architecture of STR was designed. By studying the theory of agent and multi-agent system (MAS), a formalized definition of agent was given. And this definition was used as the designing model of agent. In the STR system, agents cooperated with other agents to complete the tasks. So they need to communicate with each other. In order to insure the preciseness and punctuality of data transmission, the communication system for the STR was designed by reference the communication technology of the existing multi-agent robot.Finally, a simulation experiment was given to identify that the STR architecture system have the properties of real-time response, robustness and stabilization.