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A Formation Control Method of Multiple Mobile Robots Based on Improved Particle Swarm Optimization Algorithm

A mobile robot, improved particle swarm technology, applied in two-dimensional position/channel control and other directions

Active Publication Date: 2017-05-24
DEEPBLUE ROBOTICS (SHANGHAI) CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, this method does not propose a specific solution to the oscillation phenomenon during the obstacle avoidance process of the robot, and the local minimum value problem in the artificial potential field method.

Method used

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  • A Formation Control Method of Multiple Mobile Robots Based on Improved Particle Swarm Optimization Algorithm
  • A Formation Control Method of Multiple Mobile Robots Based on Improved Particle Swarm Optimization Algorithm
  • A Formation Control Method of Multiple Mobile Robots Based on Improved Particle Swarm Optimization Algorithm

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Embodiment Construction

[0018] A non-limiting embodiment is given below in conjunction with the accompanying drawings to further illustrate the present invention.

[0019] Such as figure 1 As shown, the present invention uses the combination of the pilot follower method and the artificial potential field method to realize the formation control task of multiple robots in a static environment. The specific implementation steps are as follows:

[0020] Step 1: Abstract the actual operating environment into a plane map, and establish an environmental map based on the location and size of the obstacle. Mark the obstacle with the ID number so that the robot can detect the obstacle information and set the final target point coordinates.

[0021] Step 2: Initialize the position information of the robot in the map. Arbitrarily set four robot positions on the map, and use a circle with a radius of 1 unit to represent the robot. The robot obtains global map information through its own detector and records the inform...

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Abstract

The invention discloses a multi-moving-robot formation control method based on the improved particle swarm optimization. According to the multi-moving-robot formation control method based on the improved particle swarm optimization, a pilot follower method is combined with a manual potential field method, the particle swarm optimization is introduced into the method, relevant parameters in operation of following robots are optimized, and therefore the motion route and the obstacle and collision avoidance effect of the following robot are improved. A potential field function is adjusted so that stress outside a dangerous distance can be normalized, large repulsion is given to the robots within the dangerous distance, and the obstacle and collision avoidance effect is optimized. In the particle swarm optimization, a competition mechanism is introduced in by adjusting a weight coefficient and a learning factor so as to improve the optimization effect of the particle swarm optimization, and finally the obstacle and collision avoidance effect of the following robot is obviously improved.

Description

Technical field [0001] The invention belongs to a formation control method of multiple mobile robots, and in particular relates to a formation control method of multiple mobile robots based on an improved particle swarm optimization algorithm. Background technique [0002] Formation control is a typical and versatile multi-robot coordination problem, and it is the basis of the multi-robot coordination problem. Multi-robot formation technology has been widely used in fields such as national defense, industry and agriculture, flexible manufacturing, and unmanned exploration. At present, there are many methods to solve the problem of formation control, mainly including behavior-based method, pilot follower method, artificial potential field method, virtual structure method, etc. The behavior-based method is difficult to clearly define its behavior, and the stability of formation cannot be guaranteed; the method of leading the follower has no formation feedback and is prone to falli...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 唐贤伦姜吉杰虞继敏刘想德张毅张莉王福龙
Owner DEEPBLUE ROBOTICS (SHANGHAI) CO LTD
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