Based Multi-agent Robot System Communication Technology

The concept of multi-agent comes from DAI (Distributed Artificial Intelligence), and Multi-Agent Robots are one of its applications in the field of robotics. Along with the development of robotics, people focus more and more on MAS (Multi-agent System) . Practices have shown the competence of MAS for complex tasks. At present, the researches of MAS are mostly centralized on high layer cooperation, while seldom concerned with under layer communication. This paper does some research on communication technology of MARS (Multi-Agent Robot System).First, the paper introduces the agent and multi-agent system, investigates its system architecture model. Combining with existing communication models and methods, an unified model of multi-layer agent network is developed. The model aims at the specialty of MARS and highly unifies kinds of communication architecture model. Then, the communication model for MARS is deeply studied, the MARS fitted model of high layer communication and topology structure of under layer network are provided. On the basis of these researches, the emphasis on real-time communication protocol for MARS-RTCFMR is studied. We deeply study the low layer real-time process and message scheduling, bring forward the TS arithmetic, together with simple arithmetic of message protocol and the central controller reboot. The protocol system realizes the guarantee of absolute deadline guarantee for real-time process and message scheduling. On the basis of research of under layer protocol, we also study the high layer protocol and develop a transmission protocol-AUDP/IP based on UDP, also with its simple realization.Finally, the protocol system model, scheduling algorithm are simulated in experiments. The experimental results prove that the TS model proposed by this paper is reasonable and the improvement for high level protocol meets the Real-Time requirements of MARS.