Research On Distributed Control System Of Heterogeneous Robots In Human-robot Co-habitation Environment

In recent years,with the advent of the fourth industrial revolution represented by artificial intelligence,robot technology has advanced rapidly and matured.The application of robots has gradually expanded from the industrial field to various fields such as family services,education,entertainment,medical and nursing,military rescue and material transportation,and unmanned area exploration.Human beings are increasingly hoping that robots of different types and configurations can perform their duties in the production and living environment of people,work for others,and coexist with others,that is,achieve "human-machine integration",and heterogeneous robots are in the same working environment in a mode that shares environment awareness,computing resources,and control and making decision.This needs to study the integrated control system with distributed control,massive data storage and management,multi-level communication and other technologies for heterogeneous robots,and construct a "human-machine integration" wisdom space where people and a variety of heterogeneous robots coexist harmoniously.Related technologies such as heterogeneous robot control systems in the "human-machine integration" smart space have become the hotspots in the field of robotics.This paper focuses on the centralized control and management of heterogeneous robots in the human-machine cohabitation environment,the storage and processing of massive data,distributed communication,decoupling of software and hardware,and code reuse,based on the robot operating system(ROS).A distributed control system for heterogeneous robots in human-machine living environment was constructed.Firstly,the working environment and communication requirements of the heterogeneous robot are analyzed,and the control system of the wheeled mobile robot platform is upgraded to meet the requirements of the new system.Secondly,the overall architecture of the system is adjusted to realize the decoupling of hardware and software,improve the reuse rate of the software code,and also increases the flexibility of the robot hardware system.Then,using the distributed characteristics of the system,the multi-robot distributed communication system is constructed to make the communication between the heterogeneous robots more simple and convenient.Finally,Using the distributed control system of heterogeneous robots in human-machine living environment,the distributed communication and control of wheeled mobile robots and humanoid robots were tested.The mode of keyboard command was successfully used to realize the remote operation of heterogeneous robots under wireless networks.Experiments show that the distributed control system constructed in this paper has a higher performance data storage and processing server,and it is equipped with an open source operating system and a high-performance distributed communication secondary operating system,which can realize the comprehensive improvement of the operating system level of heterogeneous robots.It can successfully complete the complex distributed communication and integrated control of heterogeneous robots in the human-computer cohabitation environment.