Task Planning For Multi-Robot Intelligent Assembling System Based On The Technology Of Multi-Agent System

With the development of robot technology, the capability of robots is becoming greater and greater. The application field of the robots has expanded into too many domains, from automatic assembly in the factory to nuclear power plants, space, deep sea and etc. On the one hand, when a complex task is too sophisticated to be completed by a single robot, the cooperation and coordination of more than two robots are needed to be adopted; on the other hand, people hope to enhance the working efficiency through the cooperation and coordination of the multi-robot, furthermore, when the surrounding in which robot works changes or there are something wrong in the system, the multi-robot can complete the scheduled tasks through the coordination and cooperation among them. In this opinion, the research on robot coordination and cooperation mechanism is the key problem to apply the multi-robot technology and also the foundation of applying the multi-robot technology to the practical system.In this thesis, the assembly-planning problem, a classical problem in artificial intelligence will be regarded as basic problem, at the same time, the design and the development work about the cooperation and coordination assembly system based on MAS (Multi-Agent System) technology are addressed. At first the basic characteristics, application fields and the development status are analyzed, and the feasibility and the necessity of applying the multi-agent technology to the cooperation and coordination of the multi-robot system are expounded. In the second place, through the analysis of robot's intelligent problem, a new strategy for robot assembly planning, a method that is a combination of layer-wise planning and multi-agent technology is brought forward, by which the traditional consecutive planning problem is changed into the concurrent planning problem. This strategy greatly decreases the complexity of the planning problem and accordingly enhances the working efficiency of the whole system. In the section of task decomposition, a pivotal section in the system, task decomposition based on cut-set method together with center-part grouping method is used to decrease the number of useless groupings and furthermore to decrease the waste of the system resource. At the end of this thesis, according to the designed structure and flow chart of the system, a synthetic simulation for the optimization decomposition of tasks and assembly planning based on three microcomputers is implemented to testify the feasibility and effectiveness of the system structure and the algorithm designed in this thesis.