Multi-Robot Distributed Communication in Heterogeneous Robotic Systems on 5G Networking

摘要

This work aims at new opportunities for the development of the robot communication network. Besides, a robot operation and decision control method driven by Digital Twins (DT) is designed to utilize lasers in a virtual environment. The multi-agent is integrated with the Proximal Policy Optimization (PPO) algorithm, forming the Muti-PPO algorithm for robot path planning. In addition, a consistent hashing algorithm is introduced and optimized as a Weighted Consistent Hash of Multiple Mappings (WCHMM) algorithm with multiple mappings. The experimental results indicate that the average task execution time of the WCHMM algorithm in the case of three bus nodes is 8.09s, which is 32.47 percent and 21.38 percent lower than the task execution time in the case of a single bus node and two bus nodes, respectively. The multi-robot distributed communication system based on Service Oriented Architecture (SOA) gives full play to the various inherent advantages of the multi-robot system.