Multi-robot coordinative exploring technology combining autonomy and coordination

Abstract

The invention discloses a multi-robot coordinative exploring technology combining autonomy and coordination. N heterogeneous moving robots R1 to Rn achieve coordinative exploration to unknown environment by means of combination of the two autonomy and coordination working modes, and finally achieve total coverage over the unknown environment. According to the technology, at first, the requirementfor hardware of all member robots in the multi-robot system is lowered, and in this way, the production and manufacturing cost of each robot is reduced at the same time. In addition, the robots of different manufacturers and different models can participate into the multi-robot system, and universality of the robots is improved. By means of introduction of the autonomy mode, the situation that allexisting robots work at the mode of the coordinative state is avoided, and the multi-robot is applied to the environment in which the unlimited distance and the unlimited bandwidth communication cannot be ensured.

Description

technical field [0001] The invention relates to the field of intelligent robots, in particular to a multi-robot collaborative exploration technology combining autonomy and negotiation. Background technique [0002] Compared with a single-robot system composed of an expensive robot, a multi-robot system composed of multiple cheap robots has many advantages. First, the failure of individual robots does not affect the normal operation of the system, that is, the system is redundant. The second is that the multi-robot system can complete tasks that a single robot cannot complete, such as handling larger objects, accelerating the exploration process, and so on. [0003] For a robot monitor described by a finite state automaton, when determining the state of the automaton, the conventional method is to divide the robot workspace, and different spatial poses correspond to different set elements. The disadvantage of this is the state set dimension is too big. Specifically, there a...

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Problems solved by technology

[0004] One is that each robot in the multi-robot system completely relies on communication to determine each operation target during the entire operation process. Once the communication fails, the robots will be at a loss. The hardware requirements of the robot's computing resources are too high; thirdly, the existing robot navigation target point selection strategy is unreasonable; finally, the existing technology is coordinated through a central controller. Once the controller fails, the system will will be paralyzed

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