The Research On Multi-robot System In The Artificial Environment

With the development of robotics, the single robot's intelligence, rudeness, reliability and so on is more and more advanced. But lots of task is more would like to use cheap multi-robot not a single expensive robot, because multi-robot system has reliability, adaptability and maintainability which are based on redundancy. At the same time, owing to its distributed character, multi-robot system can represent structural agility easily. Besides, this distributed robot system needs simple hardware, and they can configure over again. Nay, multi-robot system is a good platform which could inosculate and verify many theories. Lots of theories (include complexity system theory, economics theory, biology theory and so on) are applied to multi-robot system. This makes robotics acquire broad development. Focusing on the idea, the main contributions of this dissertation are:First, a survey is given on current research areas, status and applied field of multi-robot system. Refer to the situation of my country; assume a sort of application of multi-robot system in the future of China. Revolving behavior, combining with the emergence thought of complexity system and behavior-based robotics, seek after a method, which is put forth advantaged group dynamic suddenly from multi-robot system and reserved this state; game theory of economics(make use of Nash equilibrium ,non-cooperative game and cooperative game)is introduced into multi-robot system design which is about cooperation, consider selfish the small vehicle group how to make own behalf is most by environment and latent rule and open out an necessity among these agents; make use of schema theory, consult the method which behavior is schematized in order to make different character small vehicles' survival behavior in artificial environment is schematized. Whereafter, express this evolution process which are small vehicles' behavior changed along with environment change. Afterward, fitness function and cost function is introduced for the sake of designing multi-robot system with a best way. These experimental robots' software and hardware and the arrangement of artificial environment are introduced finally.