Intelligent control method for coordinating multiple-robot system

Abstract

The invention relates to an intelligent control method for coordinating a multiple-robot system. The multiple-robot system consumes excessive energy in the traditional method. The intelligent control method comprises the following steps of: according a kinematic model of a smell source releasing smell molecules, establishing an observation mode of a robot to the position of the smell source; within each sampling period, in case of any smell detected, estimating the position of the smell source according to Kalman filtering theory and the observation value of the robot to the position of the small source; based on the estimation value of the robot detecting the thickest smell source in the group to the position of the smell source, updating the estimation value of each robot to the position of the smell source, and using the estimation of the robot to the position of the smell source as the basis of estimation of the next position for the robot. The invention effectively improves the precision of positioning the smell source, guarantees less consumption of energy of the robot system, and meets the requirement for quick positioning in actual demands.

Description

technical field [0001] The invention belongs to the technical field of automation and relates to an intelligent control method for coordinating a multi-robot system. Background technique [0002] The location of dangerous odor sources is of great significance to human safety, such as locating the source of pollutants and the source of toxic gas leakage in chemical factories, etc. Therefore, how to quickly and effectively locate the source of dangerous odors is an extremely important issue. However, the problem of localization of hazardous odor sources presents different characteristics in different environments. Normally, in the absence of airflow, the diffusion of odor molecules is the main force that drives them away from the source of the odor. The greatest concentrations will occur near the source of the odor. Therefore, we can use the gradient method to locate the odor source. In the real world, however, air currents are a major force affecting the diffusion of odor...

AI Technical Summary

Problems solved by technology

At present, the main control method for coordinating multi-robot systems to locate dangerous odor sources is swarm intelligence technology, but the positioning success rate of this technology is low, and it will also consume too much energy for multi-robot systems. One of the main reasons is that the The method utilizes the concentration amplitude information, and the instability of the concentration amplitude information tends to make the multi-robot system converge locally.

In addition, the research on cooperative control methods for multi-robot systems has just started in our country, and no effective method has been proposed yet.