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

Inactive Publication Date: 2010-12-01
EAST CHINA JIAOTONG UNIVERSITY
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

[0005] The purpose of the present invention is to provide a distributed synchronous flocking control method that can solve the problem of collision between individual robots and the connectivity of the topology of the group network when the size of the robot group increases

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  • Distributed type multi-robot synchronous swarming control method
  • Distributed type multi-robot synchronous swarming control method
  • Distributed type multi-robot synchronous swarming control method

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Embodiment Construction

[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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Abstract

The invention relates to a distributed type multi-robot synchronous swarming control method. The method comprises the steps of: identifying not more than six key neighbor robots in all the neighbor robots with the current position of a robot as a center, the detection distance of a sensor as a radius, and other robots in the circular area as neighbor robots, and designing a position control operator of the current robot by using an attraction-repulsion function among the current robot and the neighbor robots; designing a speed direction control operator of the current robot according to the linearization expression of a Vicsel model; and weighing and integrating the position control operator and the speed direction control operator to form a synchronous swarming control rate of the current robot. The invention visually demonstrates network topology and control action relations among robot positions, breaks the restriction on the scale size of robots, realizes purely distributed type extensible coordination control, guarantees communication of network topology structures in the process of group evolution, and can adjust parameters to avoid collision when the scale of the neighbor robots increases continuously and realize self-adapting to the change of the position relations of the robots.

Description

technical field [0001] The invention relates to the technical field of intelligent robots, in particular to a distributed multi-robot synchronous flocking control method. Background technique [0002] Multi-robot system, as an artificial system, is actually a simulation of group systems in nature and human society. The basic idea of ​​robot swarm cooperation and control research is to regard multi-robots as a group or a society, and study the cooperation mechanism among multiple robots from the perspective of organization and system, so as to give full play to the various inherent advantages of the robot swarm system. [0003] At present, research on group systems mainly focuses on the consistency of group behavior under the condition that the network topology structure of individuals is known and the individual control rules are determined, that is, the positive model. Taking swarming behavior as an example, from the perspective of biological research, the positive model T...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/00
Inventor 陈世明裴惠琴江冀海
Owner EAST CHINA JIAOTONG UNIVERSITY
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