The Study Of Multi-robots System And Key Technologies Based On Multi-agent System

With the development of science and technology, single robot become harder than ever before to satisfy the demand of society. To design a more complex and more intelligence single robot demands a high cost and demands high technologies. However, the multi-robot system which is composed many single robots has shorter designing period, easier realization and higher efficiency, with the improvement of intelligence, intelligent robot has become the develop direction of robot nowadays and in the future. Based on the appearance and extensive use of the theory of agent, multi-agent system research gradually become an important part of the distributed artificial intelligence, this article have a deep study of the multi-robots system and key technologies based on multi-agent system.This article firstly introduces the research purpose, significance, current research status at home and abroad and the main research contents of multi-robots system. Later, it introduces the composition and the related research content of the multi-robot system based on multi-agent system. Then, it researches its the motion planning in detail, and put forward a method that combines the behavior of avoiding collision and artificial potential field, according to local conditions might be minimal, and puts forward follow_wall behavior planning, and for the collision might exist between multi-robots, according to the rule of daily life, it introduces traffic planning and changing rate to effectively solve the conflict of multi-robot collision. The fourth chapter through the research of the formation of the multi-robots, it firstly designed the library of formation behavior, then produce the control parameters for each behavior by experience, finally gained the behavior results by these behaviors weighted. The fifth chapter through the humanoid robot ROBONOVA - I robot composed of 3vs3 FIRA humanoid robot soccer as the platform, through designing the decision subsystem of this platform, and algorithm of the general players and the goalkeeper, it validate the design of this chapter is effective by experiments and real games'results.With the development of science and technology, the robot technology increasingly matures, and robot gradually in the development direction of high intelligence, humanoid and multi-robot system. This article is in this context, and do some works. So many humanoid robots to complete robot soccer match independently is the focus of the robot's development in the future.