Study Of The Multi-robot Search And Rescue System And Task Allocation Method Based On MAS

The development of robotic technology is thanks to the development and progress of the computer, automatic control, electronic and information technology, artificial intelligence, and so on, but it also promotes the cross-application of these disciplines. The robot was originally used in industrial fields, such as automobile production line’s spraying, welding, assembly, and was extended from a single robot working independently to a group of robots to work together. With the expansion of the needs of the community, its scope of application is also expanded, especially under the conditions of the frequent occurrence of natural disasters in recent years, robots have been used in search and rescue work after that.Taking the urban disaster environment as the research background, focusing on the research of multi-robot system and their task allocation system, and with the instructing of the theory of robot and multi-agent, this paper proposed a task allocation method which combines the theory of the MAS((Multiple Agent System) and the auction method in the market mechanism,and through which to improve the efficiency of the task allocation in the entire search and rescue system. The paper’s specific research work is as follows:1. The paper summarized the research on search and rescue robots and task allocation, and pointed out the shortcomings, focused the distributed feature on task allocation of multiple robots, proposed the method of the combination of MAS theory with the task allocation of robot.2. Based on the analysis of the MAS model structure, an overall design framework of multi-robot system was established, and then established the robot’s hardware structure as well as the coordination control architecture which including the architecture of the system and the control structure model.3. Discussed on the several typical auction theories and made a detailed analysis of the feature of Second Price Sealed Bid Auction (SPSBA), discussed task allocation method based on MAS theory, made a detailed analysis of work processes of the Contract Net (CA), proposed the strategy of search and rescue robot task allocation through the integration of SPSBA with CA.4. Researched the processes of the algorithm which based on the re-auction of the task, with the new task, applying algorithm of NTA (New Task Allocation), with the task that have been allocated, due to the dynamic changes of the environment which needed the task to be re-allocated, applying algorithm of the OTR (Old Task Re-auction). In the end, we made the analysis of the performance of the algorithm.5. Simulated the task allocation algorithm through the RescueRobotSim simulation platform and verify the validity of the algorithm. Finally build a robot physical task allocation platform.In this paper, the multi-robot task allocation methods had a certain reference value for the work of guiding the multi-search and rescue robot system; what’s more it’s also the fundamental of the in-depth study of the multi-robot.