Coordination control method for system with multiple mobile robots

Abstract

The invention provides a coordination control method for a system with multiple mobile robots. The coordination control method comprises the following steps of: obtaining a personnel current moment position, an input matrix, an output matrix and an experience control quantity of each mobile robot, and a current moment position of a neighbor robot; determining a first parameter of each mobile robot according to existence of predetermined expectation position information of each mobile robot; determining a learning parameter of each mobile robot according to the first parameter of each mobile robot and a weighting adjacent matrix of the system with the multiple mobile robots; determining a learning gain matrix of each individual mobile robot according to the input matrix and the output matrix of each mobile robot; and controlling each mobile robot according to the current moment position, the first parameter, the learning parameter, the experience control quantity and the learning gain matrix of each mobile robot, and the current moment position of the neighbor robot. According to the invention, the control precision is improved through adding a learning process, so that each mobile robot can complete a task in a limited time.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a coordinated control method for a multi-mobile robot system. 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 need to be completed through cooperation among 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 not hi...

AI Technical Summary

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 or goal, but cannot guarantee that each mobile robot can completely track any specified desired trajectory or goal.

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