Design And Implementation Of LAN-based Multi-robot Communication System

Internet technology has now become the main way of communication to a controlnetwork. It has many advantages such as high transmission speed, remote controlcapability, efficient and stable. Network control technology relates to the control,communications, computers and other fields of knowledge. In this thesis, we selectthe Korea HANBACK ROBONOVA-AI biped robots as the nodes in the multi-agentnetwork, and build multi-robot control system by using TCP/IP technology.This thesis uses TCP and UDP network control technology which provided by theTCP/IP network protocol to build up two kind of robot control systems, andintegrates dynamic consistency control platform into the UDP control system. Themain work of this thesis is as follows:(1) Based on the control requirements of biped multi-robot collaboration network,the basic action programs are developed and debugged in Robobasic developmentenvironment. It lays the foundation for the realization of the biped robots’ cooperativecontrol.(2) Build a server-client robot control system which controls the biped robotunder Linux terminal by using TCP Socket and Linux-based network programming.(3) It builds a multi-biped robots’ network control system which is based on UDPprotocol with socket network programming and included with a discrete consistencycontrol protocol platform.(4) The consistency network control system is designed to a dynamic platformwhich users can input adjacency matrix and connection strength value. The thesisanalyze the impact of different connection strength values to the convergence processfor robot arms.