多机器人通信中防冲突方法研究

研究多个机器人通信中的冲突问题。针对当有针对当对机器人同时进行通信的时候,一个机器人可能同时接受多个其它机器人发来的指令,在时域指令信号方面形成冲突,造成机器人之间通信成功率不高的问题。为了解决这个问题,提出冲突自调整多机器人通信方法,算法利用新到达指令填充离开指令造成的空闲时隙,解决时域信号冲突。利用捎带检测技术,提前对下个时隙进行调整,进行空闲时间预留,减少空闲时隙的产生。很好地减少空闲时隙,解决由此带来的通信成功率不高的问题。实验结果表明,这种方法在多个机器人同时通信的情况下,能够很好地协调通信关系,避免指令冲突,提高了多机器人的通信成功率。

Methods to Prevent Conflicts in Many Robots Communication

Research the robot communication conflicts.When there is many robots to participate in work,many robots may also send message a robot,cause many instructions at the same time as the receiving end of the robot,cause conflict between communication failure robot.In order to solve this problem,puts forward the collision detection adjust themselves more communication methods,the algorithm using robots to filling new instructions from directives,using testing technology,lots of time in advance next adjustment,reduce reserved for the generation of free time.Without any increase in conflict at the same time,be better able to reduce the time,avoid the instructions conflict,to solve the problem of communication failure brought.The experimental results show that this method in DuoGe robot and communication,can very good coordination communication relationship,avoid conflict instructions,and good results have been achieved.