Research On Mobile Robot Control And Cooperation Based On Multi-agent System

With the development in robotics, the capability of robot is improved ceaselessly and its application field has been extended. Robots are being expected to do more complex task which a single robot has no ability to accomplish. Obviously, these tasks need coordination and cooperation among multiple robots. So it is important to study multi-robot cooperation. Recently, the research of multi-robotic systems is becoming a new research direction—Cooperative Robotics. Based on the concept of multi-agent systems in DAI, robot soccer game and mobile robot formation, the dissertation gives a research on mobile robot control and multi-robot cooperation and puts forward some new methods. The dissertation discusses the organization and coordination of MAS and puts forwards a kind of multi-robot system model based on MAS. It integrates effectively decision of tasks, planning, information and real-time execution. It can also unify the function of system and robots in order to analyze and model multi-robot system. The model of motion is the basis of mobile robot motion control. According to the analysis of the physical structure of wheeled mobile robot, motion model can be constructed. Under the basis of it, the dissertation analyzes three velocity algorithms: reaching the fixed point, rotating and reaching points accurately. Then the dissertation discusses the complex action planning. Robot soccer game is a typical multi-agent system. The dissertation analyzes the decision system separately according to the flows of robot soccer game. The design of the switch of attack and defense and the strategy of role assignment are put forwards. And the method of information fusion based on neural networks is researched under the background of robot soccer decision. The dissertation also analyzes quantificationally the tasks assignment and the principles, and studies the high level strategy of multi-robot cooperation Moreover, the dissertation constructs a Windows communication platform based on software and hardware of Pioneer2 mobile robot. The content realization and the protocol format of data package are given. The formation control is also studied. The achievements of robot soccer competition and the multi-robot formation experiment's results verify that the above methods are correct and effective.