Research On Mobile Robot Behavior Synergy Technology Based On Multi-body Fusion

Mobile Robots are playing an important role in modern world and gradually changing our life.There exist two problems during the development of mobile robot application software.One is the compatibility and reusability of function modules.The other is replacing and integrating of the function modules.To find a new method of solving the above problems,the paper designs a development framework for behavior coordination of mobile robots based on the multi-agent theory and subsumption architecture.This paper designs a multi-agent subsumption-based architecture for mobile robots by means of the loosely-coupled communication mechanism called publish/subscribe in the Robot Operating System and reusable software packages based on the reactive behavior decomposition model.The layered reactive control theory and the new software development technology based on this theory is researched in this paper.This paper proposes a novel ROS-based behavior coordination mechanism for mobile robots,and the communication mechanism between the function units and behavior description schema inside the function unit.The reusable message control units are researched and designed in detail.A programming framework for the behavior coordination of mobile robots is developed.Based on the key scientific research projects of Education Department in Hunan,the control architectures for an autonomous wander robot and a security patrol robot are designed and implemented.By analyzing the experimental result in detail,the usability,robustness and efficiency of the framework in this paper is validated.