Distributed type multi-robot synchronous swarming control method
A multi-robot, control method technology, applied in the field of intelligent robots, to achieve the effect of solving collision problems and ensuring connectivity
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[0025] The present invention will be described in detail below in conjunction with the accompanying drawings.
[0026] Neighborhood map of the robot swarm is shown as figure 1 As shown, take a group consisting of N robot individuals (such as 15) in two-dimensional space, regardless of the size of each robot individual, assume that the individual is a particle, the position of individual i is randomly generated, and each individual The perception radius (that is, the neighborhood radius) is r, if the distance between individual i and individual j is less than or equal to r, then j and i are neighbors to each other, and they can interact with each other. Connect an edge to form a neighbor graph. It should be noted that the position of each individual will change over time according to the role of the position control operator and the speed direction control operator, that is, the neighbors of each individual will also change over time. Variety.
[0027] The connectivity graph ...
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