Study Of The Arithmetic Of Multi-Robot Capture

Multi-robot can achieve more complex task that single robot can't by cooperation,so research of Multi-robot cooperation has beening payed more and more attention by researcher all the world. In this paper,firstly ,Based on hardware platform of four locomotive robots,we built a multi-robot research platform and realized wireless net communication among agents. Secondly ,vve analyzed movement performance of robot and performance of sensors through the following two experiments that twin robot portage experiment and single robot movement experiment, Simultaneity net communication reliability is also proved.in the following vvork,vve utilized vector analysis in the research of single robot movement and multi-robot formation movement decomposition for p2-dx robot.,and did some research on formation transform of tri-robot.At last,we brought forward self-educated and combined control multi-robot capture arithmetic: according to the principle finite state machine capture behavior of robot can be decomposed in reason; in the course of capture using the arithmetic of getting world environment information by indirect orientation, capture robot explore and register obstacle's location.realize the function of understanding and be familiar with unknown environment and optimizing route.