Mobile robot and coordination control method for multiple mobile robots
A mobile robot and coordinated control technology, applied in two-dimensional position/channel control, comprehensive factory control, comprehensive factory control, etc., can solve the problems of low control accuracy and inability to guarantee mobile robots, and achieve high control accuracy.
Active Publication Date: 2014-03-05
BEIHANG UNIV
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Problems solved by technology
However, the disadvantage of the existing technology is that the control accuracy is not high, often only making each mobile robot asymptotically complete a specific task when the time tends to infinity
In particular, when it comes to the tracking problem of multiple mobile robots, it is often only guaranteed that each mobile robot reaches a certain position, but cannot guarantee that each mobile robot can reach an arbitrarily specified desired position
Method used
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[0020] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.
[0021] In the description of the present invention, it should be understood that the terms "first", "second" and so on are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance. In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral Ground connection; it can be mechanical co...
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The invention provides a mobile robot and a coordination control method for multiple mobile robots. The coordination control method for multiple mobile robots comprises the following steps: obtaining the present position of an individual mobile robot and the present positions of neighbor robots of the individual mobile robot, judging whether the individual mobile robot is provided with preset expected position information or not, and determining a first parameter according to the judged result; determining the study parameters of the individual mobile robot according to the first parameter and the weighted adjacent matrix of the multiple mobile robots, and controlling the individual mobile robot according to the present position of the individual mobile robot, the present positions of the neighbor robots of the individual mobile robot, the first parameter, and the study parameter. The coordination control method for the multiple mobile robots can ensure that the mobile robot arrives at the appointed expected position, and is high in control accuracy.
Description
technical field [0001] The invention relates to the technical field of robot control, in particular to a mobile robot and a coordinated control method for multiple mobile robots. Background technique [0002] At present, the coordinated control method of multiple mobile robots has been more and more widely used in practical problems. This is mainly due to the fact that more and more practical tasks are more complicated, which are often difficult to complete by a single mobile robot, but can be completed by cooperation between multiple mobile robots. In addition, through the cooperation among multiple mobile robots, the efficiency of the robot system in the operation process can be improved, and then when the working environment changes or the robot system fails locally, the multi-mobile robot system can still complete the scheduled operation through its own cooperative relationship. task. However, the disadvantage of the existing technology is that the control precision is...
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IPC IPC(8): G05D1/02G05B19/418
CPCY02P90/02
Inventor 孟德元贾英民
Owner BEIHANG UNIV