Autonomous survival detection and distributed coordination method for mobile robot cluster

The invention discloses an autonomous survival detection and distributed coordination method for a mobile robot cluster, which comprises a mobile robot cluster startup and shutdown process autonomous survival detection and distributed coordination process. The survival list corresponding to the robot in the cluster is modified by using a distributed coordination method in the startup and shutdown processes, so that the autonomous survival state of the robot in the startup and shutdown processes can be detected. According to the invention, autonomous management and detection of the survival state of the mobile robot in the cluster in an unreliable network environment are realized through a distributed coordination method, and the problems of robot collision, task allocation errors, non-uniform public resource allocation and the like of the mobile robot during path planning, task allocation and public resource allocation are reduced. 本发明公开了一种移动机器人集群自主存活检测与分布式协调方法，该方法包括移动机器人集群开机和关机过程自主存活检测与分布式协调过程，通过在开机与关机过程中利用分