Development of strategy software and algorithm simulators for multi-agent system in dynamic environments

Abstract

In the field of mobile robots, many interesting and important algorithms are employed in the process of implementing a robust, collision-free multi-robot collaboration movement. The main objective of this thesis is to introduce strategy software of RoboCup multi-robot system, and several related algorithm simulators that we made during the development process. Another objective is to introduce several crucial algorithm implementations for the system, for instance, Kalman filter, safety navigation algorithm and path-planning algorithm. This thesis reanalyses, compares against research results in the history and today, and then proposes a solution with verification and correction. Along with the theory, we construct the theoretical framework of the strategic algorithm system. And then we tested the experimental effect with several simulation programs. The implementation results have been verified to be success by multiple tests. Finally, this thesis also suggests the to-do list and expectations of research directions. The main result of the thesis contains the implementation of strategy software, algorithm simulators and the implementation of several crucial algorithms. All the thesis source codes can be found at: https://svn.puv.fi/Botnia2011/