Research On The Strategy Of Coordination And Cooperation Of Multi-Robot

The cooperative system of multiple robots has abroad prospect of application. Because of the change from structured environment to unstructured environment, the system of multi-robot must have high intelligent to adapt to the changes of tasks and the uncertainty of environment. Consequently, the research on cooperation of multi-robot is not just the coordination, but the whole system's coordination and cooperation. The organization and architecture of control heavily affect the validity of the system.This paper dose some work of discuss and research on the architecture of multi-robot and the architecture of single robot. Based on the analysis and research of the architecture of multi-agent robot system in the distributed artificial intelligence field, we present a three-layer control system model, and the single robot adopts the reactive control system, which based on the behavior. This paper presents a motion planning method of mobile robot in dynamic unknown environments, which based on the theory of fuzzy logic control.According to the driving experience of human, the rules of fuzzy logic control are established. A distributed fuzzy logic controller is used for avoiding multiple dynamic obstacles. Through changing the steering angle and velocity of robot, this method can solve the collision avoidance problem in dynamic unknown environments. And this method also can be used for collision avoidance among multi-robot.This paper also presents a paradigm for coordinating multiple robots in the execution of cooperative tasks. The basic idea in the paper is to assign to each robot a role in the team that determines its behavior during the cooperation. The robots dynamically assume and exchange roles in a synchronized manner in order to perform the task successfully, adapting to unexpected events in the environment.Having analyzed the function and architecture of the program of simulation, we design the modules of the program, develop the software. According to the problem that we researched in this paper, this paper gives the simulation of the algorithms of both the collision-free navigation and the formation.