| The conception of agent is derived from DAI (Distributed Artificial Intelligence). The relevant theory and technology, especially MAS (Multi-Agent System) and AOP (Agent Oriented Programming), has been applied to the fields of Knowledge Representation, DAI, and Internet Data Mining etc, which have closely-related with AI (Artificial Intelligence). MRS (Multi-Robotic System) based on MAS is a concrete application of Multi-Agent conception. This paper will study Multi-Robotic Cooperative Technology on the basis of MAS.First, we introduce the conception and characteristic of Agent and the technology of MAS step by step. Second, the kernel of this paper is proposed, that is Multi-Robotic Cooperative Technology on the basis of MAS. There are lots of contents about Multi-Robotic Cooperative Technology to be researched. In this paper, we introduce some main cooperation patterns and cooperation mechanism, then, a scalable Agent architecture based on rules and a Multi-Agent Cooperative Model which is not only suitable for the common cooperative task but also suitable for dynamic cooperative task is proposed. Third, we take example for a simulation model about multi-robots patrolling street district and establish street-patrol system mathematical model with graph theory knowledge.By the analysis, this multi-robots patrolling system must solve two cooperation problems, one is cooperation for patrolling, and the other is reinforcement problem. According to the specialty of simulation system, we bring Dynamic Programming, Dijkstra algorithm research into the cooperation patrol strategy based on Multi-Robotic Cooperative Technology and algorithm for reinforcement problem, and carrying on the contrast of these kinds of cooperation strategies.Finally, we carry out an experiment to simulate multiple robots to patrol block. The results prove that the cooperation strategies we propose are reasonable. It also proves the disadvantage and strongpoint and the suitable environment of each strategy. |
PDF Full Text Request