Research On Behaviors-based Architecture Of Multiple Robots

Robotics for multi-robot system is demand-driven in the new application submitted under the theoretical value and practical application of the future research directions. Compared with a single complex robot, a number of simple robotic system composed of a short design cycle, system reliability, high efficiency implementation of the mandate, however, the efficiency of the implementation of the task will greatly decrease, and even there will be mutual interference between robots and conflicting happen if the system is not a good architecture as a basis. This self-sufficiency in the history of the development of mobile robots, multi-robot development of understanding and for multi-robot systems need to address the problem analysis, multi-robot system architecture in-depth study.Multi-robot system is composed of individual robots. The research of structural problems of the individual robot system is to study the structure of multi-robot system, the prerequisite and guarantee. This article describes the behavior-based architecture, as well as the existing four kinds of classic single-robot behavior-based architecture analysis, comparison, conclusion is given in accordance with mission requirements and the selection of different rules for what kind of architecture diagrams.This article is designed nine kinds of basic behavior modules, and two kinds of complex behavior module for the robot to adapt to more complex environments and have better cooperation sexuality. In the homing module, the article is based on ideas proposed zoning actions based on regional coordinated approach to solving robot deadlock issues, and through simulation and physical experiments validate the feasibility of the method.In this paper, multi-robot system architecture, the 4-point demand to design a behavior-based hierarchical tree of multi-robot architecture, the architecture is divided into system monitoring, mission planning, behavior management, and implementation of the layer 4-layer. MFC based on the ideology of multi-robot architecture, proposed the concept of the robot team. The final adoption of MobileSim Pioneer 3 robot simulation and physical experiments to verify the feasibility of robot teams and proved to meet the hierarchical tree architecture, multi-robot system architecture requirements.