Networked distribution type multiple-mobile-robot system

Abstract

The invention discloses a networked distribution type multiple-mobile-robot system which comprises an upper computer measurement and control system and a multiple-mobile-robot set. The upper computer measurement and control system comprises an upper computer monitoring unit and a communication network unit. Mobile robots make decisions according to sensor information obtained by a sensor detection unit and network information received by the mobile robots, operation conditions of the mobile robots are controlled, and the mobile robots operate in a coordinated mode according to a coordination algorithm of the multiple-mobile-robot set. Compared with the prior art, the networked distribution type multiple-mobile-robot system has the advantages of being simple in structure, strong in function, convenient to develop and the like. Multiple sensors replace a visual processing method, so that data processing complexity is lowered; a ZigBee wireless network based on CC2530 is constructed so that a topological structure of the multiple-mobile-robot set can be conveniently changed, and a good experiment platform is provided for studies such as coordination, fault tolerance and self healing.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a networked distributed multi-mobile robot system. Background technique [0002] At present, mobile robots, such as cleaner robots, have begun to be widely used. Multi-mobile robots are increasingly used in practical problems. This is mainly due to the fact that more and more practical tasks are more complicated, which are often difficult to complete by a single mobile robot, but need to be completed through cooperation among multiple mobile robots. In addition, through the cooperation among multiple mobile robots, the efficiency of the robot system in the operation process can be improved, and then when the working environment changes or the robot system fails locally, the multi-mobile robot system can still complete the scheduled operation through its own cooperative relationship. task. However, the disadvantage of the existing technology is that there is no good solut...

AI Technical Summary

Problems solved by technology

However, the disadvantage of the existing technology is that there is no good solution to the uncertain and complex environment, the inability to install various monitoring equipment, or the change of the network topology caused by the local failure of the robot, so that the service object of the multi-mobile robot system or limited working environment

First of all, most of the research on multi-robot systems in the past focused on the scene where the environmental conditions are known and various monitoring instruments can be installed. The robot itself does not have too many monitoring equipment such as sensors and cameras, so it cannot autonomously perceive changes in the external environment; Secondly, the communication networking system in the past can better realize the communication between multiple robots, but when the robot in the system stops running or cannot work normally due to a fault, its network topology should be changed but cannot be changed independently. Will affect the cooperation between multiple robots

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