Research And Simulation Of Multi-Robot System Based On MAS Theory

Multi-robot system has been paid more and more attention and research because of its incomparable advantages over single robot. Studying based on the multi-agent system (MAS) is a most adopted idea by robotic researchers. After detailed understanding and long-term study of multi-agent system, this thesis discussed and realized a multi-agent robot system.In this paper, several architectures of intelligent robots were intruduced first. Then the characteristics of these architectures were summarized. By studying these characteristics, a modeling mixed system method based on MAS was presented, which was suitable for the designing of the robot system.In the system,agents cooperated with other agents to completed the task.So they need to communicate with each other. In order insure the preciseness and punctuality of data transmission, the communication system for the system was designed by reference the communication technology of the existing multi-agent robot sytem.In addition,this paper also research the one of most important problem -distributing multi-robot system path planning,which is based on distributing multi-robot part path planning.Finally, simulation testing proves the feasibility and validity of the method of this paper. In the simulation, a certain amount of robots are randomly distributed in the environment full of obstacles, the system finished the mission successfully and mutual interaction among robots after a time.