Architecture analysis and design of swarm robot systems based on the multi-task’s

摘要

This paper, based on swarm robot organization control, designs an architecture of swarm robot system that the purpose is to accomplish the task, expands the robot system into four constructions : logic architecture, communication architecture, space topology architecture and organization architecture, these structures have general adaptability and have offered the unified structural model for multi-taskpsilas swarm robot system which benefit for analysis and design of the robot system structure. The design of this system architecture considering the independence of a single robot, the need of the cooperation and the coordination between multi-robots, it provides a theoretical framework for actually develop the swarm robot system.