Multi-Robot Cooperation Arichmetic And Simulation

With shorter designing period, higher stability and efficiency, better robust to environment, multi-robot system can performance better than single robot with high intelligence, which makes it an important part of intelligent robot research. Under this circumstances however, a decent cooperative algorithm among robots should be demonstrated. Otherwise, the efficiency of performing a task will be highly diminished, even interruption or collision between robots can happen. Focus on typical tasks of multi-robot system, detailed study on map-building, formation, and foraging are provided in this dissertation.Firstly, map-building is crucial when performing a task without environment information in advance. With multiple robots, environment description may be achieved shorter than that there is only one robot. A well-demonstrated cooperative algorithm is also needed to avoid repetition of searching in same area, avoiding lower searching efficiency and higher percentage of collision. Genetic Algorithm is using here to provide a good way to make different robots away from each other and near to their last destination during a map-building job. Lower percentage of repeated searching and collision is then proven by computer simulation.Secondly, under complicated environments, it's really hard to set up rules to make robots know how to do, and even harder to maker them know how to cooperate. Reinforcement Learning (RL) is a promising method, which enable robots to adjust to the environment after continuously interacting with the environment. In turn, we use RL in formation and foraging tasks which prove that given a decent Reinforcement function, robots learn how to do and how to cooperate.Thirdly, we set up rules for robots to avoid moving obstacles and eliminate possible collision between moving robots based on different and dynamic priority. Computer simulations prove that the rules and the way are effective. Both of them are useful to multi-robot system research under dynamic and complicated environment.Finally, Visual C++ language is used to program the simulation and a...