Distributed Autonomous Cooperation System for the Large-scale Cooperation Task of Multiple Mobile Robots

摘要

Based on the large-scale multi-robot foraging mission,task cooperation and action coordination problems are discussed under the distributed cooperation architecture.A dynamic task allocation mechanism is presented which reduces communication traffic and resolves the problem of task deadlock on the basis of shortening task completion time.Then,a predition-based conflict-resolution approach is proposed which makes robots avoid dynamic obstacles accurately.Finally,simulation experiments testify the validity of the presented algorithms.