Cluster control method of mobile robot

Abstract

The invention discloses a cluster control method of a mobile robot. The mobile robot comprises a plurality of entity robots. The method comprises the following steps: generating a virtual physique robot based on a wireless sensor network; controlling the movement of the entity robots which are adjacent to the virtual physique robot by the virtual physique robot; and eliminating the virtual physique robot. Through introducing the virtual physique robot in the entity robots and realizing the control of the movement of the entity robots by the virtual physique robot, the cluster control method ofthe mobile robot can avoid the defect of uncontrollable overall control result of the robot cluster caused by the restriction of a specific initial state and an adjacent topology relationship and thelack of external information feedback, and control the movement of the entity robot cluster effectively under the condition that the control rule of the entity robot cluster is not changed.

Description

technical field [0001] The present invention relates to a robot control method, more particularly to a mobile robot cluster control method. Background technique [0002] For many years, biologists have been interested in flocking behaviors that exist in nature, such as geese flying in a herringbone pattern and bats flying fast in caves without colliding with each other. One explanation for these phenomena is that each individual in the group abides by certain behavior rules, and when they interact with each other according to these rules, they will show the above-mentioned complex behaviors. [0003] Based on the above findings, experimental physicists and computer experts have done many experiments and simulations on the swarm phenomenon, proving that this phenomenon can be obtained by simple behavioral laws of individuals. For example, Reynolds in 1987 developed a computer model of simulating the movement of a flock of birds - "boids". Each bird adopts a local controller...

AI Technical Summary

Problems solved by technology

[0005] However, the robot swarm control method has the following problems: (1) The result of the swarm control has a large correlation with the robot’s initial state and neighbor topology, and it can only form a cluster under a specific initial state and neighbor topology relationship, so it usually behaves Separation

(2) On the whole, due to the lack of external information feedback, its global control results are uncontrollable

That is to say, even if a cluster is formed, the movement direction and speed of the cluster cannot be controlled, which is not conducive to the robot group performing related tasks

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