Research On Control Of Distributed Multi-Robot System

With more and more robots applied in more and more fields, more complex tasks are hoped to be undertaken by robots. Those tasks are so difficult that can't accomplish by only one robot, or one robot is low efficient to undertake such a task, or the robot which can accomplish the task will be far more difficult and costly to build than multi simple robots. The needs from application call for researches on multi-robot systems. Based on Multi-Agent System in DAI and RoboCup soccersim, the dissertation gives a research on control systems of robot in distributed multi-robot systems.Distributed multi-robot system is made up with robots, which can independently sense the environment, independently make decision and execute. In such a system, the control system of the robots is important to the performance of the system.The characteristic of the distributed multi-robot system was analyzed, and then a model for the robots'control systems was given in the dissertation. The model was base on multi-agent system, and can seamlessly integrate the function of real-time sensing, real-time decision-making and real-time executing and predating. And such a control system is easy to be realized.The mechanism of the RoboCup SoccerSim was studied, and the solutions and programs in C++ for communication with the server, multi-thread for real-time control and positioning through vision data were given. The client for the SoccerSim was realized with Visual C++ 6.0 using the control model and it is workable.