Control Method For Heterogeneous Multi-Agent Robot System

Multiple agent robot system is one of hot topics in the study of the robot, and with the constant improvement of the robot working environment complexity, engineering complexity of the actual system is also more and more high, how to better realize the control and management of multiple agent robot system is of great significance.Build heterogeneous multiple agent robot system aim at the project tasks of I undertake. Integrated system characteristics and special requirements, and the deficiency of the traditional system control method, parallel control theory was applied to heterogeneous multiple agent assembling detecting robot system, set up artificial control system which parallel to the actual control system. Through the artificial system and the actual system interaction of virtual and actual to achieve the reasonable control and management of the actual system and achieve the goal highly quality to complete the task. In this paper, the system architecture, control process, structure model of the agent, information interaction and agent collaboration algorithm are studied. The focus of the research is building system structure of heterogeneous multiple agent robot system, system control process and multiple Agent cooperation algorithm. On the basis of the study of these key technologies, designed heterogeneous multiple agent assembling detecting robot system based on the parallel control.In this paper, we applied parallel control theory in multiple agent assembling detecting robot system, by adopting the idea of interaction of virtual and actual, modeling using artificial system. Next, analysis and evaluation through the computing experiment. Finally realize the control and management of heterogeneous multiple agent assembling detecting robot system with the help of parallel execution. This kind of feedback control is the use of multiple robot system, designed to build and to solve complex tasks, has the very good reference for improving the ability of the robot system to solve the problem, building heterogeneous multi-robot system and implementation of effective control.