Study Of Multi-Robot Collaboration And Control Strategies

With the development of science and technology, the study of robot has been of increasingly stronger vitality. And to a certain degree, it symbolizes the latest development of information technology, automatics and system integration technology. Multi-robot technology has become an vital branch and hot spot of the robot study, the related research results have been applied to all walks of life extensively.The problems of Multi-Robot systems, because of the composition, may lie in mission distribution, resource competition and conflict resolution and other issues. The only key to those problems consists in the effective multi-robot coordination and control, which may allow the system to significantly enhance the working ability, efficiency, function and expand the working range. The thesis gives a deep insight into multi-robot coordination and cooperation technique and control strategy from different aspects.Considering the present states and related researches of Multi-Robot at home and abroad, the thesis posed a suitable reaction control structure to individual robot and the multi-robot systems coordinating hierarchical model by dividing the system structure into three layers to build a framework for coordination and control systems. Meanwhile, the thesis studied the collaboration model of the Agent and multi-robot's technological cooperation and collaboration process. Based on the researches and tendency in the field and the study of the MAS theory, the thesis systematically summarized and analyzed the key points of current multi-robot system, namely, the coordination mechanism, communication and researches on study.