Research On Multiple Mobile Robots Cooperation And Swarm Intelligence

Multi-robot system is the new aspect of robotics development. On the one hand, due to the complexity of some tasks, single robot is not competent to carry out all jobs for its limit capability, in such situations, multiple robots are employed to achieve task objectives through mutual coordination and collaboration. On the other hand, mutual coordination among robots will enhance the working efficiency of the robots system. In the research of multi-robot systems, a well-attended and essential topic is the multiple mobile robots coordination.In this dissertation, through applying a series of novel theories and methods, the discussions system on multiple mobile robots coordination will be presented. Focus on typical tasks of multi-robot system——robot soccer, detailed study on formation initialization, role assignment, and swarm intelligence are provided in this dissertation.Firstly, a Multi-Robot Formation Initialization algorithm is presented by principle of auction in free market. Based on priority-based auction and incremental auction, we design a fast algorithm to solve this problem. Implementation shows its feasibility and efficiency.Secondly, role assignment questions of multi-robot cooperation based on robot soccer is presented. A method of optimize estimate is proposed in order to reduce collision and make it more clear in task assignment.Finally, Utilizes the modified Particle Swarm Optimization mufti-objectives optimization to deal with the question while defending many player attacking, adapts the situation by the grain of subgroup algorithm randomness which changes unceasingly.