一种异构多机器人系统交互协议

An Interactive Protocol for Heterogeneous Multi-robot System

摘要:

随着机器人在各领域的广泛应用和任务种类多样化,单机器人执行任务受到任务规模和复杂程度的限制,使用多个机器人协作完成任务是解决问题的有效方法之一；在多机器人控制系统中,不同的任务往往需要不同结构和功能的机器人去执行,而且工业化的机器人各自遵循私有协议；在操作多机器人系统时,系统中的通信协议因不同的机器人而异,从而增加了控制过程中的协作难度；设计和制定一个统一的交互协议,便于协作信息在系统中通信,共同完成给定的任务；针对不同的机器人私有控制协议,在一致化交互接口的基础上,设计并实现了不同工业机器人之间的交互；通过工程实践,验证了一致性交互协议对于异构机器人系统的有效交互,对完成复杂问题作业具有借鉴作用。

Abstract:

Along with the wide application of the robot in various fields and the variety of tasks,the sinloggle robot task is limited by the scale and complexity of the task. The use of multiple robots to complete the task is one of the effective ways to solve problems. In multi-robot control system,different tasks often require different robots to perform, which have different structures and functions generally. And industrial robots follow a private agreement. In the operation of a multi robot system, the communication protocol in the system varies with different robots, which increases the difficulty of cooperation in the control process. Designing and developing a unified interactive protocol that is convenient to communicate with the information in the system and to accomplish a given task together. According to different robot private control protocol,on the basis of the consistent interaction interface, the interaction between different industrial robots is designed and implemented. Through the engineering practice, it is proved that this consistency interaction protocol is effective for the heterogeneous robot system. It has the reference function to complete the complex tasks.