多机器人系统通信模块的设计与实现-软件工程专业论文.docxVIP

机器人系统通讯模块的设计与实现 机器人系统通讯模块的设计与实现 II II 功能测试结果表明：系统内各个节点间可以通过广播方式进行通信。多节点 通信时，节点间可以通过 CSMA/CA 机制实现了信道共享。整个系统无组网限制， 适合于大规模群体通信。同时，用户可以通过改变发射功率调整发送距离。性能 测试结果表明：多个 eMouse 节点进行移动通信时，网络可正常工作，且系统丢 包率低于 3%。该无线通讯模块简单可靠，可用于对群集智能计算模式的研究。 关键词 IEEE802.15.4，多机器人系统，群集智能，无线通迅模块，CC2430 III III MULTI-ROBOT COMMUNICATION MODULE DESIGN AND IMPLEMENTATION ABSTRACT With the development of robot technology and the needs of practical applications, research on the applications of multi-robot systems has been a trend. Multi-robot system has been paid more and more attention because of its advantages such as high parallelism, high distribution, high robustness and low individual requirement over single-robot system. Building map after exploring unknown environment is a classic problem in mobile robot research.With the multi-robot communication system, robots can provide current status and share informations to other members in order to achieve the coordination,.Therefore, it is meaningful that the development of multi-robot communication platform for multi-robot cooperative map exploration. The topic comes from National Natural Science Foundation program The network environment based on swarm intelligence approach virtual machine Collaborative Platform. The program hopes to explore a new parallel computing model to control the large-scale group collaboration and verify performance through map building classic scene. The research team designed and produced dozens of homogeneous robot, which are low computing performance, smaller storage space, simple sensors and communications .These multi-robot systems have features like small size, high mobility, quick topology variation, low communication traffic and battery powered. For these features, following the principle of simple and reliable, a communication network is developed for multi-robot system. The specific content of this paper is as follows: The design and implementation of hardware platform: According to local communication features of sw