With the development of science and technology, robotics research comes into a new age. The application of robotics has extended from manufacturing to aeronautics & astronautics, military application, nuclear industry, service etc., so the requirements to robotics research are more diversified. Single robot can not afford many complex tasks by itself, but multiple robot system can solve such problem better through coordination and cooperation. Because multi-robot system is different from single robot system, the research about such system is necessary according to its unique characteristic. Now, the research about multi-robot system has become a new direction. This thesis focuses on coordination and cooperation in such system. Firstly, the relative fields to multi-robot system are introduced. The main directions about multi-robot system research and their developments are reviewed. Several influential multi-robot systems are described. The main research, structure and background about this paper are also introduced. Secondly, a method for system control parameters optimized configuration is presented, which uses a modified genetic algorithm to optimized parameters for multi-robot system with Motor Schema based reactive control architecture. Such method helps the multi-robot system to realize coordination and cooperation, complete collision-free movement. Thirdly, in order to solve the problem that the coordination and cooperation in fixed control parameter multi-robot system is easy to be influenced by initial condition fluctuation and environment variation, a control parameter self-adjusting method is presented to deal with such problem. Fourthly, the research, how to achieve coordination and cooperation among robots through communication, is discussed while explicit communication is available. And a negotiation and cooperation strategy based on intention strength is presented. Fifthly, the problem of cooperation strategy in distributed data fusion of multi-robot system is discussed. The invalid or unreasonable sensing information is avoided by cooperation strategy, and the precision of data fusion is guaranteed. Sixthly, an architecture for simulation software of multi-robot system is presented and realized by client-server mode on local area network based on planar model for the convenience of research. Finally, the obtained results are summarized as the conclusion of the thesis, and the topics for further research are also addressed.
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