Multi-robot formation method based on Ad-Hoc network and leader-follower algorithm

Abstract

The invention discloses a multi-robot formation method, belonging to the field of intelligent control. The method comprises the following steps of: controlling the whole formation motion trail by the leader motion trail, firstly, determining a kinematics model of the leader, and determining the direction of the motion of the leader according to a resultant force of a repulsive force and a gravitational force; creating a motion model of following the leader by the follower, following the leader by the follower according to certain distance and angle, and determining the motion trail of the follower according to a motion model created by the artificial potential field; introducing an AdHoc between the leader and the follower, creating information feedback, and ensuring that no loss occurs in the process of following the leader by the follower. With the method provided by the invention, a multi-robot system can successfully avoid obstacles in the process of finishing tasks to reach a target point, and also can keep initial order in the whole process, implement real-time order control on multiple robots and be more suitable for some occasions where multiple robots are needed for finishing tasks (such as transporting, rescuing and the like) synchronously.

Description

technical field [0001] The invention belongs to the field of intelligent control, and in particular relates to a multi-robot formation method. Background technique [0002] Since the birth of the first industrial robot in the 1950s, with the rapid development of communication, computer, sensing, electronics, control and other technologies as well as artificial intelligence technology, robot technology integrating a variety of advanced technologies has been driven by market demand. Great development has been made. The information that a single mobile robot can obtain is limited, and the tasks that can be completed and the ability to collect information are also limited. With the deepening of research, a single mobile robot appears to be unable to do what it wants in some applications. In order to solve this kind of problem, people consider using multiple robots to cooperate with each other to make up for the lack of a single robot's ability under the current level of robot t...

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Problems solved by technology

The present invention also proposes to introduce an Ad Hoc network between the leader and the follower. In the formation process, the implicit communication and the display communication are combined to overcome the problem that there is no feedback information between the leader and the follower, which leads to the problem that the robot is easy to lose.

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