Research On Communication And Trajectory Planning Of Multiple NAO Robots

Multi-robot system has become a new direction for the development of robot because of its ability to complete complex tasks in a parallel and efficient manner.Robot soccer competition is a leading scientific research competition and high technology competition,which is the platform of sports competition,and embodies many advantages of multi-robot coordination and cooperation.Therefore,this paper takes Nao robot as the research object,which mainly focus on the research and analysis of the communication,dynamic role transformation and path planning algorithm among NAO robots,and it verifies the feasibility of the communication,role transformation and trajectory planning algorithm among NAO robots system through the Sim Robot simulation and experimental.The main research contents of this paper are as follows:1?First of all,the background of multiple robots system and Robot World Cup(Robo Cup),the development direction,purpose and significance of multi-robot are summarized.On this basis,the hardware system and software system of NAO robots platform are deeply studied.Finally,this paper analyzes and researches the control process and basic framework of the NAO robot control system,in addition,three processes of cognition,movement and debugging are put forward.As well as the status and function of the five modules are summarized,which are visual module,positioning module,communication module,action module and decision module.2?After analyzing the communication mode of multiple NAO robots,the communication principle of message queue,message storage and message processing are studied.Further,the communication between the two robots is realized by the Sim Robot simulation software.Finally,it is proved that the multiple NAO robots communication is feasible through the actual NAO robot experiment.3?Based on the research of the software and hardware system of the NAO robot platform and the communication principle of multiple NAO robots,the role transformation of multiple NAO robots is studied.Firstly,the role of each robot in the robot soccer game is simply analyzed.Then the calculation method of the dynamic allocation of various roles is studied.Finally,compared with the non-cooperative multiple NAO robots and the single NAO robot in the soccer match,the superiority of the multiple NAO robots based on the communication cooperation is verified by the penalty experiment.4?After the realization of communication among multiple NAO robots,the trajectory planning algorithm of multiple NAO robots is studied.Firstly,the basic principle and implementation steps of the Rapidly-Exploring Random Tree(RRT)are analyzed,and the advantages and disadvantages of the algorithm are evaluated.On this basis,an improved RRT algorithm is proposed for the problem of RRT algorithm.Finally,in the environment of obstacles,the accuracy and efficiency of the improved RRT algorithm are verified by the simulation of Sim Robot and the experiment of actual robot.