Study on Distributed Data Processing System for Decentralized Spherical Multi-robot based on Edge Computing and Blockchain

摘要

The application of robot is more and more abundant. Especially in the background of military applications, it is often necessary to build multi-robot system to complete tasks. But, when the multi-robot system encounters the invasion of the enemy, the centralized control system is hard to defend effectively and solve the Byzantine fault-tolerant problem in the embedded environment with the lack of computing resources and the multirobot system network can not carry the broadcast of a large amount of original data. In order to solve the above problems. Lora communication technology and blockchain technology are used to propose and implement the decentralized spherical multirobot control system, which improves the Byzantine fault-tolerant ability of the system. At the same time, based on the concept of edge computing, under the current decentralized system, the distributed data processing system of the spherical multi-robot is studied. The results show that distributed data processing system for decentralized spherical multi-robot based on edge computing and blockchain can effectively improve the real-time performance.