Research On Multi-robot Intelligent Collaboration With M2M

Multi-robot collaboration is becoming a new form of robot application because it can complete complex tasks, improve the efficiency of the system, improve environment adaptiveness, and expand the application range of robot. With the M2 M technology, human, agent, robot and sensor can share information and decisions in real time, therefore they Can work together to complete the task intelligently. This paper researches methods of multi-robot intelligent collaboration with M2 M. The main research works are as follows:In this paper, the multi-robots system structure is introduced. The composition of software and hardware, form of organization structure, communication mode and software frame of the multi-robot system are studied and designed.The existing communication protocols and communication technologies are analyzed. The remote communication system among human, agent, robots and the communication system robots are developed with C/S and B/S hybrid communication network model. The C/S-based control and state information transmission model is constructed by using stream socket technology and TCP protocol. The P2P-based state information transmission model is constructed by using the technology of data reported socket and the UDP protocol.The method of simplified model and distance estimating is studied based on Swept Sphere Volumes. An improved collision-free algorithm based on virtual velocity potential fields is proposed in 3D space. To avoid oscillating at goal point, a saturated function is suggested to the attractive velocity potential function. In repulsive velocity potential field, a design of fuzzy spring damping system is used to eliminate chattering phenomenon near obstacles. A shortest-path-based tangential velocity potential field is designed to avoid local minima problem. In addition, a path priority strategy in collision avoidance is taken into account based on scheduling among robots for a better performance and higher efficiency.A dual robot motion simulation platform is developed. The 3D model simulation of the scene, the robot and the obstacle with OpenGL is realized and the simulation method of robot motion is studied. By the developed man-machine interface of the simulation platform in Visual Studio, the simulations of collision-free motion planning and robot cooperation can be realized by the quick command or program.With the design multi-robot experimental platforms, the applicability of C/S-based remote control system and P2 P communication system, the applicability of collision free motion planning algorithm in complex environment, and the coordination of multi robot intelligent cooperative system are tested. The experimental results verify the feasibility and effectiveness of the proposed method.