With the development of the robot technology, the performance of robot has been enhanced, and the application fields have been enlarged. So researchers begin to consider whether it is possible to complete a task by the cooperation of several robots, when a single robot can not manage it. In order to run a multi-robot system smoothly and effectively, it is necessary to organize the system and the coordination among multiple robots has became one of the important aspects in robotics. This thesis mainly focuses on the modeling and realization of multi-robot simulation system, the motion planning and communication. The contents are as follows: Firstly, the features of multi-robot system are described. Existing researches on simulation system, motion planning and wireless communication are introduced, and so are the background and architecture of this thesis. Secondly, the design and implementation of multi-robot simulation system are studied. The demand, component, static and dynamic models of simulation system are built by exploiting Unified Modeling Language (UML). Based on these models, a multi-robot simulation platform ColonySim is developed. The ColonySim which integrates task-level and motion-level coordination has a friendly graphic interface and it is algorithm-independent. Furthermore, it is a verification platform of multi-algorithm and multi-task. Thirdly, an obstacle forbidden zone based motion planning method is proposed. The method is applicable to dynamic unknown environment. With the partition, expansion and integration of obstacle information and the motion prediction of other robots based on the recurrent least square algorithm with restricted scale, the obstacle forbidden zones are built for decision making, which may meet the requirement of collision free planning. Fourthly, a communication method based on GPRS is applied to the multi-robot system. As an assistant communication method, it may make up the limitation of the wireless local area network (WLAN). This method uses AT command sets to control the GPRS module and the X-modem protocol is introduced to accelerate the file transfer speed. Also, the multi-thread programming is used to avoid the interference of the communication thread to the primary thread. The SMS and MMS are applied to transfer the information among robots, as well as the robots and the users. Finally, the conclusions are given and future work is addressed.
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