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Method for controlling density of group mobile robots in any formation

A mobile robot and density control technology, applied in non-electric variable control, vehicle position/route/height control, position/direction control, etc., can solve problems such as robot density maintenance, robot density control and formation change conflicts, and achieve Guaranteed communication and perception range, controllable robot density, and high communication and perception range effects

Inactive Publication Date: 2011-05-11
BEIJING INSTITUTE OF TECHNOLOGYGY
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AI Technical Summary

Problems solved by technology

[0004] The invention solves the problem of robot density maintenance in the process of mobile robots, solves the problem of conflict between robot density control and formation transformation in the advanced process of the traditional multi-robot formation control method, and at the same time improves the adaptability of the traditional method to unknown environments

Method used

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  • Method for controlling density of group mobile robots in any formation
  • Method for controlling density of group mobile robots in any formation
  • Method for controlling density of group mobile robots in any formation

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Embodiment Construction

[0018] In the method for controlling the density of a group of mobile robots in any formation, the mobile robot has the ability to perceive other robots and obstacles in the neighborhood, and has the ability to communicate with its partner robots. Its model is as follows:

[0019] First, a finite compression spring model of the mobile robot is established. According to the working characteristics of the mobile robot, the limited compression spring model (limited compression range is an annular zone) is used to establish the action field of the mobile robot. The principle is as follows: figure 1 Shown:

[0020] 1) After artificially setting the position of the target point, a target attraction virtual force is applied to the mobile robot. The magnitude of the attraction force of the mobile robot to the target point is proportional to the distance, and the direction is the direction of the connecting line between the robot and the target point.

[0021] 2) When the distance be...

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Abstract

The invention discloses a method for controlling the density of group mobile robots in any formation, and belongs to the technical of mobile multiple robots. The method includes steps of grouping mobile robots, setting an advance destination point for the group mobile robots, and performing ground mobile adjustments to the robots till the destination is achieved. The invention adjusts the problem that the robots are too dispersive through a crowded factor, and adjusts the safety distance to solve the problem that the robots are too crowded or barriers are too close and cause collisions easily, through a robot spring model with a compressible range; and the formation of the group mobile robots is changed, but the method can efficiently ensure the communicating and sensing range of the group mobile robots, and overcome the phenomenon that one robot falls behind easily. The method enables the group mobile robots to be highly automated, the density of the group mobile robots can be controlled, and any formation can be formed according to movement environments, so that the method has the characteristics of keeping the density of the group mobile robots in an unknown environment and the like.

Description

[0001] technology neighborhood [0002] The invention relates to a method for controlling the density of mobile group robots in any formation, and belongs to the technical field of formation control in the technical neighborhood of mobile multi-robots. Background technique [0003] The swarm mobile swarm robot system is composed of a large number of micro-miniature mobile robots, and is suitable for applications in collaborative neighborhoods such as reconnaissance and rescue. How to effectively organize a large number of micro-robots to work together is an important issue in the swarm mobile swarm robot system. In the process of completing the task, in order to effectively control the distance between mobile robots to ensure the communication coverage and perception coverage of the robot group, it is required that the robots should not be too scattered, and at the same time, they will not be overcrowded and cause collisions. This is one of the fundamental issues in the appli...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/00
Inventor 宋萍李科杰漆光平陈昌康晓韩惠婕
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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