Study Of Multi-Robot Cooperation Techniques And Group Control Strategies

With the development of science and technique, the robot study has the strong vitality more and more, and on a certain degree it is the deputy to the latest development of technical on information technique, automation the technique, system gather etc nowadays. Multi-robot techniques are a medium important branch of the robot study, its production apply to many trade extensively, the military realm is most typical, the American have already thrown the robot soldier of various model in Iraqi war. We still has to be apart from the research of abroad very greatly, for following close behind the current of the military of world and science and technology development, and advance the automation level of the national defense realm of us, especially in the applications of Multi-Robot techniques; This text take the miro-robot soccer game system as the research object, and study the Multi-Robot cooperation technique and control strategy relatively thoroughly from some aspects.Considering the present states of Multi-Robot, combining the different development situation internal and overseas, I sum up the study direction in that field, introducing the hot problems of Multi-Robot and some well-known models of internal and overseas. The one point of this text is studies on setting up the control model of Multi-Robot System under the robot soccer environment, and discussing the application of Petri-net theories in establishment of the model of soccer shooting, the assigning mission and the programming mission; According to the study of the control strategy, this text give some definition; and put forward a kind of control strategy on shooting ball which is based on the advisement to the broad path and the ideal forecasted shooting dot, carried on the experiment; Another Textual production is the study of the conflict of Multi-Robot, Anglicizing to make use of the method of the reached tree theories to detect and avoid dead-lock, carried on the imitating ,put forward the strategy to solve the deadlock which is based on an analysis of threat, according to the example of deadlock analysis.