Goal-oriented Search Of Group Robot Test System Design And Development

The swarm robotic system contains lots of homogenous robots havingrelatively simple structure and functions. Swarm robotics mainly researches thesystem how to complete complex tasks, being difficult or inefficient to completefor single robot, by swarm intelligence emerged from cooperative control. Sincethe mechanism is upon limited sense and local interactions, the communicationsystem seems critical to the swarm robots. Taking target search as thebackground and focusing on design to swarm robotic platform, some works areaccordingly done in this thesis:1. Type-selection design to member robot. Since the swarm robotic systemconsists of many member robots, AS-UIII autonomous mobile wheeled robotdesigned and manufactured by Shanghai Xpartner limited company is selectedfor robotic motion platform. By analyzing hardware configuration and softwaredevelopment platform of AS-UIII, its key features including sensing, motionand control flexibility are clear.2. Design to additional communication function of robot. By adding thehardware circuits and serial communication software, the CC2430RF wirelesscommunication module and the robot controller are effectively integrated so thatthe LPC2132+8051dual-CPU controller structure is formed.3. Architecture design to communication system of swarm robots. Comparedseveral short-range wireless communication technologies, wireless sensornetwork technology based on IEEE802.15.4standard and ZigBee networkprotocol is adopted for mesh network structure building.4. Design to communication protocol and functional system ofcommunication content management. Based on the ZigBee protocol stack, therobot communication protocol including robot ID, detected target signalsintensity and its own position information is designed. Meanwhile, the basicfunctional monitoring system is designed to monitor the swarm robots operationprocess and history data management. The theoretical analysis and simulation results for the above workdemonstrate the feasibility of the design to swarm robotic communicationsystem.