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Motion control method of search and rescue robot system based on multi-agent theory

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

Inactive Publication Date: 2017-04-12
ZHEJIANG SCI-TECH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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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  • Motion control method of search and rescue robot system based on multi-agent theory
  • Motion control method of search and rescue robot system based on multi-agent theory
  • Motion control method of search and rescue robot system based on multi-agent theory

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Embodiment Construction

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

[0033] like figure 1 and 2 As shown in the figure, the search and rescue robot used in the motion control method of the search and rescue robot system 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 Set on the top of the smart car body 3 to avoid obstacles; the smart car body is equipped with four deceleration motors M, encoder, DC motor driver, GPS module with antenna, electronic compass, Zigbee module, infrared life detection module , camera module and 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 the point-to-point and ZLGNET protocols (including the snap protocol), and each ZigBee network node can be configured thro...

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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, relates to a multi-agent search and rescue robot system, and in particular relates to a motion control method for a search and rescue robot system based on a multi-agent theory. Background technique [0002] A multi-agent system is a collection of multiple agents, which together form a large and complex system into a small control system that is convenient for communication, coordination and management. The study of multi-agent systems involves the knowledge, goals, skills, planning of the agents and how to make the agents take coordinated actions to solve problems. Scholars mainly study the interactive communication, coordination and cooperation and conflict resolution between agents. Multi-agent systems emphasize the close cooperation between agents, rather than the autonomy and function of a single agent. Since the agent embodies the autonomy and adaptability of human society or biological...

Claims

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Application Information

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Patent Type & Authority Patents(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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