Study on Collaborative Algorithm for a Spherical Multi-robot System based on Micro-blockchain

摘要

Spherical multi-robot system is mainly used to perform field tasks in harsh environments. How to improve the communication distance and task duration, or if the multi-robot system adopts centralized control mode, once the Byzantine general problem arises and the enemy invades the control center, how to make control power of the whole multi-robot system be guaranteed, is the main study of this paper. The Blockchain technology, as a new application of computer science, such as distributed storage, point-to-point transmission, consensus plugin and encryption algorithm, was widely used for financial industry. At the same time, LORA communication technology was also widely used in the field of Internet of Things for its low power consumption, remote transmission distance, and powerful anti-jamming performance and so on. Via the decentralized architecture and LORA communication technology, which can improve flexibility and reliability of the multi-robot system and ensure the control power on battlefield. This paper proposed the Micro-blockchain and collaborative algorithm based on decentralized architecture which can be used for the spherical multi-robot system. On the basis of the theory, an experimental platform was built up and the result shown that it was practicable to set up the Micro-blockchain based on LORA and through this collaborative algorithm, multi-robot system can complete more complex tasks.