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

Coordination and cooperation are one of the most important topics of multi-robot. Multi-robot can achieve more complex task that single robot can't, so the research of multi-robot cooperation is paid more and more attention by researcher, and they have aboard prospect of application. In the thesis, the problems such as system architecture, the cooperation and coordination in task layer, the way of planning in behavior layer are discussed based on the'pursuit-evasion'game.Firstly, this paper does some work of discuss and research on the control architecture and the communication method of multi-robot. Based on the analysis and research of MAS, the architecture of single-agent robot system, the architecture of multi-agent robot system and the interaction between the robots, a three-layer control system model and the communication method with a blackboard system are presented.Secondly, in the research on the behavior layer planning, this paper presents a motion planning method for pursuit robot capturing target robot in dynamic environment, which is based on the theory of fuzzy logic control. According to the driving experience of human, the rules of fuzzy logic control are established. Through controlling the steering angle and velocity of robot, this method can solve the problem of capturing target robot quickly. And then the result of behavior fusion can export by the reactive control system.Thirdly, in the research on the task layer planning, the pursuit task can disassemble to target searching, target rounding and target sending. A random searching method is used for target searching, which simulates the gas molecule in a close container. A rounding algorithm with leader adjusting and its local optimum algorithm are used for target rounding task decomposition and assignment,which is based on the roles of the pursuit robots, then the paper presents the finish condition of target rounding. Target sending is one kind of the multi-robot team task constitutionally. And it can do with the policy of team leader.Finally, a simulation system is built to realize the multi-robot system. And the feasibility of all algorithms and the robustness of multi-robot system are verified further.