Research On Formation And Coordination Of Group Robots

Robots as one of the greatest inventions of human beings in the 20th century, rapid changes have taken place in just 40 years and are becoming the representation of the high tech field. The emergence and development of robot technology, not only made the traditional industrial production undergone fundamental changes, but also will have a profound impact on human society. Group robots are relatively new, as an extension of the field of robotics. Until now, the group robots'development is still in the early days, need to be invested a lot of manpower and material resources. Group robots have a lot of features relative to the single-robot system, such as better stability and self-organization, and such of other advantages. The single robot system, multi-robot system, multi-agent system, and swarm intelligence are the basic of the Group robots technique. This paper studied these four systems respectively from the community angle.To the group robots system, this paper mainly researched how to have a coordinated movement between the robots in the group robots system. To achieve these coordinated movements, not only a reasonable theoretical support, but also has an excellent control system is needed.To group robots system, this paper mainly researched how the robots can have a better coordinated movement in the group robots system, but, not only the reasonable theory, but also the perfect controlling system is needed to make these things happen. This paper put forward the game theory to solve the internal coordination program of group robots. The group robots also be established a game model, and solve the game to find the best programs of cooperation. Besides, this paper also researched and promoted the structure of the group robots control system, the key technologies involved in the control process, and the control method of the robots formation. To specify the approach and method of formation control when the group robots faced problems, in the third part, also the group robots'controlling model are established and been simulated.The group robots coordinated movement experiment is done in this paper. In this experiment, High-performance Embedded Workshop is used as the software, the game theory as the main thought, Hitachi Renesas H8/3048F-ONE as the main controlling core. This paper explored a suit of group robots system, with the relative software and hardware, the coordinated movement can be achieved in the robots.