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Multi-robot pollution control method based on Voronoi diagrams

A pollution control, multi-robot technology applied in the field of robotics

Inactive Publication Date: 2014-01-22
NANJING UNIV OF POSTS & TELECOMM
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But the formations that these control methods can achieve must be compatible with the desired reference path, rather than arbitrary variable formations

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  • Multi-robot pollution control method based on Voronoi diagrams
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  • Multi-robot pollution control method based on Voronoi diagrams

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Embodiment Construction

[0047] The invention will be described in further detail below in conjunction with the accompanying drawings.

[0048] Figure 5 Be the flowchart of pollution control method of the present invention, the present invention is made up of module P1, P2, P3 and P4, and each module comprises as follows:

[0049] (1) Module P1: Divide the perception area

[0050] Because the present invention is based on the design method of Voronoi diagram, thereby dividing out the Voronoi perception subgraph under the controlled environment area is the premise of control, such as figure 1 , place the robot, pollution sources and obstacles in the two-dimensional coordinate system. robot p 3 The Voronoi subgraph V(p 3 )Such as figure 2 shown.

[0051] The first step: from the position p of robot i i (x i ,y i ) to calculate the relationship with any point in the environment q(x q ,y q ) weighted distance:

[0052] d WP (q,p i ; i ) = (x q -x i ) 2 +(y q -y i ) 2 -w i ;

[005...

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Abstract

The invention discloses a multi-robot pollution control method based on Voronoi diagrams. The multi-robot pollution control method comprises the following steps: robot sensing, task allocating, target tracking, region covering and obstacle avoiding. A system is divided into two layers: a virtual layer and a real layer; wherein in the virtual layer, a Voronoi sensing region is divided by a weighed distance so as to improve the monitoring, identification and communication efficiency of the system, thereby facilitating the reconstruction of an ambient network; the advantages and disadvantages of each task over system pollution treatment are weighed by distributed robots through the utilization of weight values in combination with self conditions and pollution source leakage conditions, and the tasks are decided by the robots selves; in the real layer, when the robots meet an obstacle, a virtual target point is updated into the edge point of the obstacle in combination with the virtual layer; neutralized substances are released according to pollution degree in the Voronoi region. The control method has the advantages that formation patterns can be arbitrarily changed according to dynamic environments so as to ensure that the robots can quickly, stably and efficiently treat pollutants and avoid the obstacle, and the independence and the self-adaptability of the multi-robot system are improved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a multi-robot pollution control method based on a Voronoi diagram. Background technique [0002] In recent years, my country's industry and other basic industries have developed rapidly, and the pollutants and highly toxic chemicals in the production process are also increasing. Due to equipment and management reasons, there are more and more accidents that lead to leakage of dangerous goods and toxic gas substances, combustion and explosion. How to use the robot team to enter the dangerous environment, quickly and effectively complete the pollution and hazard elimination and control tasks, so as to save costs and reduce the danger of human beings, has become one of the research hotspots of robots in recent years. [0003] To complete tasks efficiently. The entire robotic system must have optimal perception and coordinated control functions. Sensing is the premise of control. P...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G05B19/418
CPCY02P90/02
Inventor 曹科才范萍伟岳东
Owner NANJING UNIV OF POSTS & TELECOMM
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