Developments in heterogeneous multi-robot cooperation systems

摘要

Heterogeneous multi-robot cooperation systems can create globally optimal configurations by taking full advantage of single-structure robots in some areas.The capabilities and protocols available for robot interaction have significant effects on their ability to act cooperatively.The integrated GPS radio system(IGRS) protocol is an international standard used for positional data in China.It provides effective communication for heterogeneous multi-robot cooperation systems.The current research and development situation was systematically reviewed and summarized,allowing problems remaining to be solved to be outlined.On the basis of several robot platforms made by our research group,the advantages of heterogeneous multi-robot cooperation systems based on the IGRS protocol were elaborated.This shows up in three areas: locating robots through an IGRS communication and spatial perception scheme;dynamic grouping and negotiation strategies;functional classification and planning.A scheme for grain control of the tasks of a principal-agent was then developed.