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Searching and rescue robot system moving control method based on multi-intelligent-agent theory

A robot system and multi-agent technology, applied in the field of intelligent control, can solve the problems of incomplete search and rescue technology and lack of group behavior control of search and rescue robots, and achieve the effects of saving search and rescue time, good coordination, and simplified control methods

Inactive Publication Date: 2015-04-08
ZHEJIANG SCI-TECH UNIV
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Problems solved by technology

The search and rescue technology applied to large-scale and efficient robot swarms is not very comprehensive, especially the group behavior control of search and rescue robot swarms is still relatively lacking

Method used

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  • Searching and rescue robot system moving control method based on multi-intelligent-agent theory
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Embodiment Construction

[0032] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0033] Such as figure 1 with 2 As shown, the search and rescue robot used in the search and rescue robot system motion control method based on the multi-agent theory includes an antenna 1, a camera module 2, a smart car body 3 and a tire 4; the tire 4 is arranged at the bottom of the smart car body 3; the camera module 2 It is installed on the top of the smart car body 3 to avoid obstacles; the smart car body is equipped with four geared motors M, an encoder, a DC motor driver, a GPS module with antenna, an electronic compass, a Zigbee module, and an infrared life detection module , a camera module and a DC power supply; the antenna 1 connected to the Zigbee module extends out of the top of the smart car body 3 .

[0034] The Zigbee module uses point-to-point and ZLGNET protocols (including the snap protocol). Through the serial port, each ZigBee netw...

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Abstract

The invention discloses a searching and rescue robot system moving control method based on a multi-intelligent-agent theory. The searching and rescue technology applied to large-scale high-efficiency robot groups is not comprehensive, and particularly, the group behavior control of the searching and rescue robot group is deficient. The method provided by the invention comprises the following concrete steps that a leader robot and a plurality of follower robots form a queue to enter a region A; in a concrete searching and rescue process, the leader robot firstly searches a partial region of the region A, if the region is not searched, a follower robot G1 is left for searching the region A, and the leader robot leads the rest follower robots to continuously search a next region until the whole target region is completely searched; after completing the searching on the region A, the follower robot G1 finds the leader robot and follows the leader robot. The method provided by the invention that the possibility is provided for the large-scale searching, workers only need to control the leader robot through a terminal, the control mode is simplified, and the control effect is enhanced through a high-automation work mode among the robots.

Description

technical field [0001] The invention belongs to the field of intelligent control and relates to a multi-agent search and rescue robot system, in particular to a motion control method for a search and rescue robot system based on the multi-agent theory. Background technique [0002] Multi-Agent System (Multi-Agent System) is a collection of multiple agents that together form a control system that builds a large and complex system into a small one that facilitates communication, coordination and management. The research of multi-agent system involves the knowledge, goal, skill, planning of the agent and how to make the agent take coordinated action to solve the problem and so on. Scholars mainly study the interactive communication between agents, coordination and cooperation, and conflict resolution. The multi-agent system emphasizes the close cooperation between agents, rather than the autonomy and function of a single agent. Since the agent embodies the autonomy and adapta...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
Inventor 高金凤卜斌冯立晖徐勇
Owner ZHEJIANG SCI-TECH UNIV
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