Research On Architecture Optimization Of Task-oriented Multiple Mobile Robot System

With the development of the social requirement and science technology, robotics is developed both in scope and depth, and its range of application is becoming wider and the architecture is increasingly complex. The issue of task allocation and cooperation among robot team is the most popular issue in the research of robotic technologies. Architecture is a significant part in the research of multi-robot systems, which is the basis of cooperation realization and behavior accommodating. In this thesis, the task-oriented architecture of multi-mobile-robot is studied, and robots are based on hybrid entity architecture and hierarchical group architecture.The hybrid mixed architecture is given in the thesis, which mainly includes system monitoring layer, collaboration and cooperation layer, behavior decision-making layer and responding layer, and the fusion architecture is given in the design of behavior decision-making layer. Hierarchical mixed architecture based on behavior is applied into robotic motion control based on mission; in the basis of analyzing the normal motion planning algorithm, its mission is arriving the target without collisions. Improved probability sampling method together with tangent method is applied to avoid the static obstacles, and fuzzy logic control to change the speed to avoid the dynamic obstacles.In the system of multi-robot, we used the hierarchical task-oriented group architecture model to analyze the decomposition of tasks from top to bottom and from bottom-up solution. The motion planning algorithm is analyzed; especially the contract net is analyzed and improved as focus. And the improved collaboration contract net task allocation mechanisms are applied to hierarchical models of group architecture.In the end of the paper, task-oriented layer group architecture is applied, the simulation of anti-collisions based on task-oriented mixed architecture is carried, which proves its validity, thereby the robot can arrive the target smoothly. Simulation on task allocation mechanism of contract net is also carried, all of which accomplish the real-time response, reduce the load of communicating system, and improve the fault tolerance of system.