Design and development of multi-robot architecture and decision-making model

To design individual robot architecture in task-oriented multi-robot system running in dynamic environment, it is essential to give prominence to robot abilities of real-time reaction, making decision ability and the cooperation. However, these abilities, especially the second one, were not emphasized in the existent architectures. In this research, a hybrid robot architecture based on five reaction layers was proposed. A decision-making development method was presented. After pointing out that when a robot being able to satisfy multi-task needing, it not only need to consider the distances, but need to synthetically consider the tasks, environment, and robot's self-status also, a task team selecting algorithm using decision-making matrix based on the multiple properties was further proposed. And at last test results of garbage treatment in simple simulated environment shows that method proposed in this paper is efficiency.