Reseach On Optimization Of Networked Organization In Multipul Mobile Robot Systems

With the expansion of the application domains and the system scale of the distributed mobile multi-robot system, it has become an important challenge to organize the robots to coordinate effectively. Most of the researchers contribute to the optimization of the coordination strategy to improve the efficiency, however, even with the same coordination strategy, the differences of network structures will significantly influence the performance of the system, which very few researchers have focused on. In this thesis, based on the SDN architecture,we analyzed the requirements of robots’ collaborative interactions and influence of the organization on the system performance, and combining with the approach of adaptive recognition of the coordinative relationship, we put forward a network organization model which consists of the communication layer and coordination layer to optimize the system performance.In the communication layer, we can achieve the overall positive adjustment by the heuristic optimization of local network structure. We are aiming at expanding the valid coverage of robots, and decreasing the local communication cost with the controlling of robots’ moving cost. By making a trade-off between the valid coverage and the communication and movement cost, the communication network can provide the basic guarantee for robots’ effective coordination. The coordination layer, in which the robots can learn the potential close relationships between each other adaptively, based on the different capabilities and roles of the heterogeneous robots. Furthermore, we make an initial effort to adjust the collaborative relationships utilizing the characteristics of the network structures, and supply the optimized relationship matrix among robots as a guide for coordination. With the optimization of the communication and coordination layers, the robots can choose different coordination strategies and improve the coordination efficiency, based on the optimal communication network and the guiding of the close relationships learnt in the coordination layer.By respectively adjusting the organization of the communication and coordination layers, we can adjust the communication network with a balance among the valid coverage, the energy consume of communication and movement, and improve the efficiency via the guiding of the close coordination relations, to achieve the largest coverage of a given area and the highest utility, with the least communication and movement cost. The simulations demonstrate the effectiveness of adjusting approaches, and we make further discussions on the synthetical optimization of system.