A Distributed Multi-robot Synchronous Flocking Control Method

A technology of multiple robots and control methods, applied in the field of intelligent robots, to solve the collision problem and ensure the effect of connectivity

Inactive Publication Date: 2012-02-22
EAST CHINA JIAOTONG UNIVERSITY
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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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  • A Distributed Multi-robot Synchronous Flocking Control Method
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  • A Distributed Multi-robot Synchronous Flocking 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

A distributed multi-robot synchronous flocking control method, including: taking the current position of the robot as the center of the circle, the sensor detection distance as the radius, and other robots in the circular area are neighbor robots; determining no more than six key neighbors from the neighbor robots For the robot, design the position control operator of the current robot based on the attraction-repulsion function between the current robot and the neighbor robot; design the velocity direction control operator of the current robot according to the linear representation of the Vicsek model; weight the position and velocity direction control operators Integration to form the current robot synchronous swarming control rate; the invention intuitively shows the network topology and control relationship between the robot positions; solves the limitation of the robot group size, realizes purely distributed scalable coordinated control, and guarantees the evolution of the group. The connectivity of the network topology, when the scale of robot neighbors continues to increase, the parameters can be adjusted to avoid collisions and realize the self-adaptation of changes in the robot's positional relationship.

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 Patents(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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