Multi-robot Coordination And Cooperation Research In Unknown Environment

Based on the multi-robot system architecture,communications and consultations, modeling and planning,collision avoidance,The Thesis,studied the multi-robot system conflict resolution strategies and coordination methods in the unknown environment of to detect the environment.Firstly,it proposed the hybrid control architecture,and described coordination mechanism in detail based on the explicit communications and multi-level blackboard architecture to combine the coordination mechanism to achieve communication between the robot and information-sharing problem,and enhance the systems of asynchronous communication,improve the efficiency of the completion of the mission.Secondly,the digestion step-by-step algorithm used to solve the environment because of the sharing of resources caused by the collision problem, simulation results show that this algorithm is the feasibility and efficiency;Finally,the solution will coordinate the introduction of detection environment,the full traverse from the environment and the smallest start time of detection,duplicate detection aims at reducing the opportunities and the number of experimental data shows the optimization suitability of coordination mechanism system.