Research On Cooperative Mechanism Of Multi Mobile Robots Based On Environment Map

Compared with the sin gle mobile robot,multiple mobile robots are greatly improved in the ability of perform ing a task and th e robustness of its function. Because of the complexity and the heterogeneity of the robot s' platform,the existing multiple mobile robots' researches are m ainly in the area of navigation and path planning and so me collaborative algorithm which are b ased on the extern al environment built by the se nsors. And the lack of the internal enviro nment researches built by the in ternal factors such as power change,have the negative effects on the working pr ogress of the whole multiple mobile robots system.Firstly, the map generation mechanism is constructed, which is m ainly based on the actual robot working platform, and describes the representation, storage and transmission of the parameters of the internal and external environment factors. At the sam e time, the map model based on the internal and external en vironmental factors is applied to the rapi d concurrent localization and m apping(FastSLAM) algorithm to test the actual sim ulation results. Then the collab orative mechanism of multi m obile robots is studied from two aspects. The first aspect is the use of the full environmental factor model of the task of the local map generation in the existing planning mechanism. The second aspect is the use of full environmental factors model in the globa l map generation, mainly on the basis of the local task to build the global path planning.Finally, a complete set of open source robot operating system(ROS) platform is used to test the related internal environment factors model, and to tes t the efficiency of the model.