吉林大学学报(工学版) ›› 2013, Vol. 43 ›› Issue (01): 141-146.

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Heterogeneous multiple mobile robot and its cooperation mechanism based on MAS

YUAN Quan-de1,2, GUAN Yi1, HONG Bing-rong1, MENG Xiang-ping2   

  1. 1. School of Computer Science and Technology, Harbin Institute of Technology, Harbin 150001;
    2. School of Electrical Engineering and Information Technology, Changchun Institute of Technology, Changchun 130012
  • Received:2012-03-20 Online:2013-01-01 Published:2013-01-01

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Abstract: The network structure of most of current multiple mobile robot systems is static when they are running. So it is difficult to alter the number of the robots. Most of the systems need complicated configures when launching. In this paper, a multi-robot system, UMRS-1, is proposed, which uses distributed architecture, supporting heterogeneous mobile robots. In UMRS-1, member robot can join in or quit from the system dynamically. The architectures of member robots and UMRS-1 are analyzed. It uses KQML-based Contract Net Protocol (CNP) as cooperation protocol. The multi-robot hunting problem is discussed to show the communication and cooperation mechanisms of UMRS-1.

Key words: artificial intelligence, MAS, MMRS, UPnP, KQML, CNP

CLC Number: 

  • TP18
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