Distributed Collaborative Control Model Based on Improved Contract Net

The overall efficiency of multi-robot system is closely related to the cooperative control algorithm, so the research on cooperative control algorithm has been a hot topic in the field of multi-robot. In order to improve the overall efficiency of the multi-robots cooperative system, this paper proposes a Distributed Collaborative Control Model based on improved contract net (DCCM). According to the characteristics of the robot cooperative system, the negotiation and evaluation rules of the multi-robots cooperative system are proposed. This model combines the traditional contract net model with the broadcast algorithm to solve the shortcomings of the traditional contract net. This model solves the bottleneck problem of the traditional contract net model in the bidding evaluation stage, and also reduces the waiting time of the robot. With the help of the supervisory mechanism, the problem of the loss of the traditional contract net model in the task execution stage has been solved, and the stability of the system has been improved. Through the experiment of multiple trackless robots, it proves that this model can effectively reduce the execution time of the whole multi-robots system.