Research On Multi-agent Robots System And Formation Control

The collaboration control of multiple robots can complete complex mission much better than single robot. Two tasks of multiple robots'collaboration control are discussed in the thesis. One is formation control of multiple robots; the other is a new collaborative control system of multiple robots based on the frame of open agent architecture. Behavior-based formation control is adopted in the thesis. Four primitive behaviors are introduced for optimized formation control task: moving to goal, keeping formation, avoiding static obstacle, avoiding dynamic robots. In order to keep formation, dynamic-dead-zone method is adopted by individual robot and each robot calculate his formation-vector respectively. Then induct unitary formation-vector to restrict orientation of each robot so as to generate a sort of given arbitrary formation shape and robot motion strategy is improved to reduce convergence time. The simulation result shows the feasibility and validity of the proposed approach. According to the analysis of the existed multiple robots control systems, a new collaborative control system of the multiple robots is proposed, which is based on the thesis of open agent architecture. The system's capability, realization in laboratory and many critical technologies concerned are investigated. Saphira is program environment of the Pioneer 2/DX intelligent mobile robots produced by ActivMedia Robotics Company. And it has wrapped a great deal of functions to control single robot. Some Saphira Agents can be constructed, through Java interface provided by OAA, on the Facilitator. Thus the Saphira Agent can be thought as Robot Agent. If we can construct Database Agent, Map Agent etc on OAA, the collaboration control of multiple robots may run on OAA.