Research On Multi-Robot Cooperation System For Industrial Production Line

With the rapid development of robot technology and the demand of production practice in recent years.Especially in the field of industrial production,machine replacement is realized early.Nowadays,the demand for robots is no longer limited to single robot.Multi-robot collaboration system is emerging in our daily life.The stability,function and efficiency of multi-robot cooperation are significantly improved compared with that of single robot.The multi-robot cooperation platform has been widely used in the production process,but the lack of openness and expansibility of the platform leads to the problems of high cost and weak environmental adaptability.The main work of this paper is as follows:Firstly,the research status and common solutions of map modeling,task assignment,path planning and so on for multi-robot cooperative system at home and abroad are introduced.Secondly,aiming at the lack of openness of the multi-robot cooperation system on the industrial production line,this paper puts forward the whole structure of the modularization idea,which separates the upper software from the bottom motion control organically,based on the analysis of the actual demand.Improved the flexibility of the system.Then,aiming at the demand of low cost AGV,this paper gives the hardware design idea of low cost AGV minimum system,wireless communication,motor control and 10 input and output module.Then this paper studies the core problems of multi-robot collaboration system such as map modeling,task scheduling,path planning and so on,and designs a heterogeneous robot task allocation method based on behavior assignment method.According to the characteristics of map modeling,A*algorithm is improved,and a simulation experiment is made in Matlab with time window control mechanism,which verifies the feasibility of the algorithm.Finally,the multi-robot task scheduling system software is developed by C#technology in VS2015 platform.The function module includes map drawing module,task module,real-time display module and so on.