Orbit expansion based multi-robot tracing formulation control method

Abstract

The invention discloses an orbit expansion based multi-robot tracing formulation control method, comprising the following steps of: a) for a group of target orbit in a plane, expanding vectors of the target orbit, which point to each point on the orbit along the center of the target orbit, into an orbital cluster equivalent to an orbital function, and determining the movable range of robots; b) calculating tracing error by virtue of the orbital function, and designing the virtual angular velocity of the robots to ensure the tracing error to meet design requirements; c) calculating the generalized arc length and differential coefficient of the generalized arc length when the robots move along the orbit, by virtue of the orbital function and the target orbit, and designing the control force of the robots by virtue of neighbor information obtained by communication to realize formulation; d) calculating the error between the real angular velocity and the virtual angular velocity, and designing the control moment of force of the robot to complete tracing; and e) completing motion control on the robots by virtue of a servo system. The orbit expansion based multi-robot tracing formulation control method disclosed by the invention is especially applicable to nonholonomic constraint dynamic robots and simple and convexly- closed orbits. The method is simple and reliable, has higher accuracy and can be applied to multi-robot optimized information acquisition and the like.

Description

technical field [0001] The invention relates to a tracking formation control method of multi-robots based on track expansion. Background technique [0002] Robot tracking control technology is widely used in various fields such as military affairs, disaster search and rescue, and information collection because of its relatively simple control law, good robustness of the control system, and ease of engineering practice. The so-called tracking control of the robot means that under the drive of the control system, the robot drives from any initial position into a pre-planned trajectory, and moves along this trajectory or finally moves to the destination. For example: wheeled robots search and rescue survivors according to a predetermined path, underwater robots move in elliptical orbits to collect marine information, etc. In recent years, with the rapid development of sensitive sensors, people can install sensors on multiple mobile robots to form a mobile sensor network to joi...

AI Technical Summary

Problems solved by technology

However, for some simple closed curves (such as ellipses, rounded squares, rounded parallelograms, etc.), it is difficult to obtain the explicit expression of the orbital function, and the orbital function is essential in the design of the control law. This makes tracking formation control difficult to achieve in some cases

Secondly, this method limits the communication topology to a two-way chain structure, the speed requirement of the particle robot in motion cannot always be 0, and the acceleration information of neighbors needs to be used in the control law design, which also limits the practical application of this method to a certain extent. use in

The Chinese patent "Projection-Based Cooperative Path Tracking Control Method for Multi-moving Objects" (Patent No.: ZL200810196368.4) adopts a method based on projection along the horizontal or vertical axis to design the cooperative path tracking control law of a multi-particle robot. Due to this method It is necessary to always be able to find the only projection point of the moving body on the target path, so it is not suitable for the case where the target path is a closed curve

However, no such control method currently exists

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