A Multi-robot Topic Communication Method Based on TCP and UDP

摘要

Nowadays, many scholars are devoted to studying the cross-platform communication of multi-robots, in addition, the traditional C/S (Client/Server) communication mode in multi-robot networks relies on the centralized management of Master nodes. If the Master node goes down, the robots in the network cannot create new connections in the communication network. To solve the above problems, this paper designs a multi-robot distributed communication method based on TCP and UDP in the Local Area Network (LAN), this method improves the C/S communication mode, cancels the Master node and designs a UDP broadcast topic mechanism, allows robots to subscribe to target topics independently to achieve multi-robot cross-platform communication, which is enhancing the robustness of the network. Finally, this paper uses AGV and ABB robotic arms as the experimental platform, builds a multi-robot topic communication network based on the proposed method, and conducts a collaborative grab experiment. The results show that the built network is stable and reliable, and multi-robot cross-platform collaborative work is realized.