Multi-agent Control System Manual
Table Of Contents
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- Summary
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- Table of contents
- 1. Introduction to Multi-agent Algorithms
- 2. Multi-agent Communications Setup
- 3. Multi-agent Synchronisation Setup
- 4. Multi-agent ROS Package
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- Introduction to multi-agent algorithms
- 1.1 Multi-agent formation algorithms
- 1.2 Obstacle avoidance algorithms
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- multi-agent communication setup
- Multi-agent communication is one of the key steps to complete a multi-robot formation. When the relative positions of multiple robots are unknown, the robots need to share each other's information through communication to facilitate the establishment of connections. ROS distributed architecture and network communications are very powerful. It is not only convenient for inter-process communication, but also for communication between different devices. Through network communication, all nodes can run on any computer. The main tasks such as data processing are completed on the host side. The slave machines are responsible for receiving environmental data collected by various sensors. The host here is the manager that runs the Master node in ROS. The current multi-agent communication framework is through a node manager and a parameter manager to handle communications among multiple robots.
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- 2.1 The steps to set up multi-agent communications
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- 2.2 Automatic Wifi connection in ROS
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- multi-agent synchronisation setup
- 3.1 Successful master/slave network connection
- 3.2 Troubleshooting network dis-connections
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- multi-agent ros package
- 4.1 ROS Package Introduction
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- 4.2 Operation Procedure
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needs to be called in the slave program. The obstacle avoidance node is enabled by default in the package. If
necessary, avoidance can be set to “false” to disable the obstacle avoidance node.
Some relevant parameters of the obstacle avoidance node are shown in the figure below, where safe_distance
is the obstacle safe distance limit, and danger_distance is the obstacle dangerous distance limit. When the
obstacle is within safe_distance and danger_distance, the slave adjusts its position to avoid the obstacle.
When the obstacle is within danger_distance, the slave will drive away from the obstacle.
Fig 4-1-8 Obstacle Avoidance Node for the Slaves
Fig 4-1-9 Obstacle Avoidance Parameters for the Slaves
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