Research On Multi-Robot Rescue System

In case of natural disaster or accident,such as fire accident,explosion or hostage kidnapping,rescue robot has the advantages of reducing human demand,long-term work without fatigue,and being able to enter the places that human cannot enter.At the same time,compared with single robot,multi robot can allocate each robot to complete different sub tasks through appropriate decomposition of tasks,so as to improve work efficiency,increase redundancy and robustness of solutions.This project plans to design a multi robot rescue system.Each robot in the system can quickly build environment map by slam technology,and then fuse and locate according to the environment map and sensor sensing information.Then a path planning method combining the improved a ~* algorithm and the improved dynamic window method(DWA)is designed to control the robot to work freely in the environment.Finally,the hybrid control method is used to control three robots.Each robot establishes communication through the ROS robot operating system.At the same time,a host subscribes to all robot messages.A set of multi robot cooperative obstacle avoidance strategy is designed to prevent collision between robots,so that multiple robots can work in the environment at the same time.In this paper,a simulation environment is built under the ROS operating system to verify the effect of each part of the algorithm.Finally,the real environment is tested by using the turnlebot 2 mobile robot platform.The test results show that the multi robot system meets the requirements of mapping,positioning,navigation and multi robot cooperation.At the same time,the multi robot system can cooperate with rescuers to complete the rescue task by adding specific functional applications for different rescue scenarios.