Outdoor multi-robot cooperative operation system and method thereof

Abstract

The invention discloses an outdoor multi-robot cooperative operation system and a method thereof. The system comprises a master control background and a mobile robot group. The master control background comprises a communication module, a display device and a server. The mobile robot group is based on a master-slave structure and is composed of a master robot and a plurality of slave robots. Eachrobot is provided with a navigation positioning module, a motion control module, a sensor module, a communication module and a main control module. The large mobile robot group can be ensured to havehigh reliability and robustness and the manufacturing cost of the mobile robot group is considered, and the operation task in the outdoor environment can be efficiently and rapidly completed.

Description

Technical field [0001] The invention belongs to the field of intelligent robots, and specifically relates to an outdoor multi-robot collaborative operation system. Background technique [0002] With the rapid development of robotics technology, the field of robotics has a trend towards clustering and collaborative operations. With the increasing complexity of operating tasks, a single robot often has extremely limited capabilities in terms of information acquisition, real-time processing, and operating range, and it is difficult to meet operating requirements in some situations; in addition, compared to more intelligent and expensive A single robot, using multiple cheap robots may be easier and more economical to complete tasks. Due to the advantages of multi-robots to complete tasks in coordination, people are paying more and more attention to it, and its applications in various fields are becoming more and more extensive, such as post-disaster search and rescue, automated prod...

AI Technical Summary

Problems solved by technology

The centralized task allocation algorithm can effectively solve the problems of task conflicts and saturated working conditions when the number of robots is small, but with the increase in the dimension and number of mobile robots, the amount of information and communication of robots increases exponentially, making it difficult to adapt to high complexity. degree calculation (a multi-robot task allocation method combined with pre-allocation and Hungarian algorithm, CN109615188A, 2019.04.12); the distributed algorithm is less affected by the number of robots, and has better adaptability and robustness, but there is "saturation" effect", the data transfer between non-cohabiting modules will generate opportunities for machine-to-machine communication, so that increasing the number of robots will cause a decrease in the throughput of the entire system (Qin Xinli et al., multi-robot task allocation based on improved ant colony algorithm [J]. Space Control Technology and Application, 2018, 44(05):55-59.)

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