Research On Robot Cluster Control System For Auxiliary Communication In Earthquake Environment

After an earthquake occurs,the communication infrastructure and transportation facilities in the earthquake area may be completely destroyed.It is difficult for rescuers to quickly understand the specific conditions inside the disaster area,which brings great difficulties to rescue operations.Therefore,understanding the disaster situation in the earthquake-occurring area in the shortest time and providing rescuers with timely and effective information is a key issue that needs to be resolved urgently.This paper studies a method of forming a communication service network within the disaster area through a robot cluster carrying micro base stations to provide short communication services for terminals in the disaster area.On the one hand,the micro base station can provide communication services for terminals such as mobile phones and tablets.On the other hand,the cameras and life detection sensors carried by the robot can also actively collect information on the disaster area.The data are transmitted to the outside of the disaster area through satellites,helping rescuers quickly formulate an effective rescue plan,improve rescue efficiency,and reduce the loss of life and property after the earthquake.First of all,combined with the actual situation after the earthquake disaster,the ability of the robot that assists in communication is analyzed,and a scheme suitable for rebuilding the temporary communication network after the earthquake is designed.Secondly,design a distributed,hierarchical control strategy and method suitable for building a temporary communication network and collecting information on the disaster situation of the robot cluster.By dividing the robot cluster into three levels: the highest leader,leader,and ordinary robots and granting different permissions,robots with different permissions have different divisions of labor,so that the robot cluster can complete tasks in an efficient and orderly manner.The research has improved the method of multi-robot formation control and formation transformation.It adopts a distributed control method of global rigidity and local freedom.As a whole,the robot cluster is controlled on a relatively rigid network structure,and the individual robots have a certain degree of freedom.The degree of control makes the overall control,and it is easy for individual robots to avoid obstacles.Third,design a cluster control system based on Robot Operating System 2(ROS2 for short).The system regards robots as control nodes and forms a robust distributed control structure to make the highest leader in the cluster Robots can issue control instructions to other robots,and each robot can also complete tasks such as positioning,avoiding obstacles,data collection and transmission under the control of its own control program.Designed and produced a visioninertial module for positioning and image data collection,through which the robot can complete its own positioning and image information collection in the disaster area.Finally,the source opened robot simulation software(Webots)is used to build a simulation environment that can simulate the control system and sensors.The robot cluster control system is simulated through ROS2 and Webots,which verifies the distributed control capability and formation of the robot cluster control system.Formation transformation ability,the robot cluster equipped with this system can complete the auxiliary communication and disaster information collection tasks in the earthquake-stricken area.