It has become a hot research topic that to improve the coordination performance of multi-robotic system by communication. With rapid development of wireless communication and robot technologies, multi-robotic system based on spread-spectrum technology has become product of combining two technologies. Code Division Multiple Access (CDMA) technology is applied in multi-robotic communication system here. According to the modified m-Walsh sequence got by the way of analyzing the relation characteristic of Walsh-code and m-sequence, the best direct sequence spread spectrum (DSSS) PN code and the improved RAKE receiver scheme are proposed, which satisfied the requirements of real-time performance, reliability and confidentiality in multi-robotic communication system, and have great significance for the research of multi-robotic communication system.
