Design of a distributed architecture for cooperative multi-robot logistic system based on agent

In order to simplify the complexity of multi-robot cooperative working in logistic automation system, a new idea of agent-based multi-robot logistic system which consists of PUMA560 robot, Staubli RX60 robot, Pinooer2 robot, pallet, conveyor, materials, storage, and computer control network is proposed. Thus the relative problems which exist in the cooperative multi-robot logistic system can be turned to some problems of agents, Such as sensing, planning and decision-making. Furthermore, the distributed multi-agent architecture for such intelligent production system is designed. The architecture comprises information agent, object agent, decision-making agent, cooperative agent, executive agent, monitor agent and interface agent in network environment, Which Call guarantee high cooperative efficiency, excellent adaptability and convenient expansibility. As the kernel part, decision-making agent is in charge of the behavior plan and control, Such as interference check, obstacle avoidance, and path plan. In addition, task cooperation Of multi-agent logistic system is discussed, and sonic important details including formal description, algorithm, behaviour rules and agent realization are given. Task can be dynamicly assigned by competitive rnechanism in multi-robot system. According to the provided architecture and algorithm, one small cooperative logistic system is developed. Simulation result shows that agent-based distributed architecture is helpful to develop the intelligent multi-robot logistic system.