Autonomous Mobile Robot Based On Mas Debugging Environment

Autonomous Mobile Robot (AMR) is an important branch of intelligent robot research. This kind of robot has outstanding capabilities of self-plan, self-organization and auto-adaptation, and with these, it is capable of working in a quite complex and unstructured environment. Recently, AMR has gained a far-ranging application in areas such as industrial production service and military weapon. The thesis first introduces the self-organization architecture of AMR which is based on MAS(Multi-Agent System), and with it as the background, discuss the demand design and implementation of AMRDSE(Autonomous Mobile Robot Debug and Simulation Environment). By visualize the great amount of data produced and transmitted by all kinds of agents in AMR, AMRDSE offer an excellent facility for the researcher to detect the abnormalities and locate the errors in AMR, thus improve the efficiency of AMR's research and development.The thesis's labor lies in the following:1) Based on the architecture of AMR, implement the C/S structure based AMRDSE which provides real-time online monitor function during field experiment and off-line data reply function during off-field analysis.2) Extend the AMRDSE to combine the three-layer B/S structure with traditional C/S structure. This hybrid structure offers AMRDSE more extensibility, makes it easier to maintain while still meets the high real-time performance demand.3) Based on the research of AMR, probe the extension of AMR -AMMRS(Autonomous Mobile Multi-Robot System), and bring forward a pathChirp-like algorithm to estimate the spare abilities of the share modules in the AMMRS.