Research And Implementation Of A Robot Behavior Coordination Development Framework Based On ROS

With the growth of robot technology,robots are taking the roles of human to implement tasks.For some complicated tasks in large-scale scenarios,cooperative robots work better than a single robot.Building a single-robot control system is complicated,let alone a multi-robot system.The reasons include the software reusability,the single-robot and multi-robot behavior coordination.ROS is a popular robot platform supporting software reusability.Subsumption model is based on Multi-Agent theory,which can be applied to single-robot behavior coordination.ALLIANCE model is an extension of subsumption model,which is designed for multi-robot cooperation.The framework in this paper combines the subsumption model and ROS to support single-robot behavior coordination.The framework encapsulates the basic control units of subsumption model based on the theory of layered control.It provides templates for behavior description inside the modules and communication between the modules.We also use the framework to develop an autonomous wandering robot and security patrol robot to validate the efficiency.The framework in this paper combines the ALLIANCE model and ROS to support multi-robot cooperation.The framework encapsulates the cooperative-behavior-control units and message-flow-control units of ALLIANCE model,and provides users with APIs to build multi-robot systems conveniently.We also design and implement a multi-robotpatrol application to validate the efficiency.Finally,we analyse the implementation details at the bottom of the framework prototype and the experimental result.Some disadvantages were found about the efficiency of the implementation and communication.So we optimise the framework in four aspects including module model,module implementation,module communication and module organization.We use the optimised framework to reconstruct the applications and compare the performance about CPU,memory,process number,thread number and communication cost the previous ones to validate the performance increasement.In summary,the framework in this paper combines the classic multi-agent theory and ROS to build a robot development framework supporting robot behavior coordination in a single robot and cooperation among multiple robots.Users can use the framework to build the control system of single-robot and multi-robot systems with abundant ROS resources available.The framework is robust,fault-tolerant and extensible.