Research On Group Communication And The Cooperative Path Planning Of Miniature Mobile Robot

Group communication and collaborative path planning have always been an important aspect of multi-robot research.This dissertation focuses on the issues of the construction of the group communication system and the planning of the coordination path of the static environment.Through in-depth analysis of communication system requirements,a ZigBee group communication system that meets the requirements of micro-mini mobile robots is constructed.To avoid the slow speed of the classic ant colony algorithm in the path planning of mobile robots and the disadvantages of easy to fall into local optimum,a suitable method is constructed.The robot's static path optimization is improved by the immune genetic operator to optimize the ant colony algorithm,and corresponding simulation experiments are performed.The experimental results show that the ZigBee communication system and the improved immune genetic optimization ant colony algorithm perform well in terms of stability and effectiveness.Firstly,the overall design plan of the project was constructed,and the establishment of robot kinematics model and the design of control plan were completed.Focusing on the construction of the robot system and the kinematics modeling of the robot,a detailed analysis of the robot driving system is made,a positioning scheme based on flight path estimation is designed,and a corresponding robot control program is implemented.Secondly,because the communication system occupies an important position,ZigBee-based community communication solutions are constructed.Focusing on the development direction of the current group communication,and comparing its key parameters,the CC2530 module is built on the micro-robot to build a system communication program,and the details of the development process of the CC2530 module are described in detail.Experimental testing of the ZigBee group communication module proves that it has expected reliability and good performance.Thirdly,an improved immune genetic optimization ant colony algorithm is proposed to optimize the static path of robots.The algorithm can automatically adjust the mutation probability and mutation method according to the actual situation,and automatically adjust the individual immune bit length.The improved mutation operator and immune operator will be embedded in the ant colony algorithm to improve the global optimization ability and convergence speed.Finally,a group robot software with man-machine interaction is programmed to complete the system test task.The use of Qt to build a graphical user interface facilitates parameter setting and command transceiving to achieve human-computer interaction.At last,the group communication and collaborative path planning experiments are performed on the system.