The Study Of System Structure And Cooperation Planning Of Multi-robot Based On MAS

With the development of computer technology, super large scale integration, control theory, artificial intelligence and sensor technology, the study of multi-robots system has been developed very quickly because of multi-subject infiltration. As a result of the introduction and development of agent theory, multi-agent system has become important in distributed artificial intelligence field. Nowadays, the study of multi-robot system has been very popular with institutes and relative area. The analysis of multi-robot cooperation based on MAS is a hot spot in multi-robot system.The thesis is developed with"the study of soccer robot path planning based on MAS"which is fund for nature project of North University of China. Large-scale multi-robot systems structure and cooperation-planning which is applied in current robot soccer contest is mainly investigated based on MAS.Firstly, several fundamental theories as well as application problems of multi-mobile-robot are studied systematically and in-depth, then multi-robot systems structure and cooperation-planning are analyzed deeply based on MAS.Secondly, aiming at large-scale multi-robot, we built up a kind of hierarchical organization and control structure, meanwhile, we also proposed contact-ability cooperation planning which is based on study of contact net and acquaintance,in addition, we illustrate cooperation planning with examples and make theory analysis.Lastly, real model structure is founded on IR-SDS intelligent robot system, the result obtained from computational simulation agree with that model structure and contact-ability planning applied in large and medium multi-robot system availably and efficiently.