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Finite-time multi-robot cooperation control method based on vent-driven mechanism

A time-limited, multi-robot technology, applied in the field of automation, can solve the problems of inability to obtain global environmental quality parameter distribution information, short continuous working time of robots, and consumption of robot energy.

Active Publication Date: 2015-08-05
浙江知多多网络科技有限公司
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Problems solved by technology

However, the current update method of the controller is real-time sampling, so at each moment, the controller needs to be updated, which consumes a lot of energy of the robot, resulting in a short continuous working time of the robot, and the distribution information of the global environmental quality parameters cannot be obtained

Method used

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  • Finite-time multi-robot cooperation control method based on vent-driven mechanism
  • Finite-time multi-robot cooperation control method based on vent-driven mechanism
  • Finite-time multi-robot cooperation control method based on vent-driven mechanism

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Embodiment Construction

[0036] Taking the distribution of salt concentration in the marine environment as an example, set the environmental range to be monitored as 200 meters long and 200 meters wide, and establish a coordinate system. The environmental monitoring range can be expressed as [-100, 100] × [-100, 100]. Four robots (n=4) were used to collect the salinity concentration of the environment cooperatively, and the salinity concentration distribution model was established.

[0037] The specific implementation steps for the i-th robot in the robot group are as follows:

[0038] The first step is to initialize the parameters of the environmental quality parameter model, including: the number m of radial basis functions is 20; the center of radial basis functions u kk (kk=1, 2,..., m) is uniformly distributed in [-100, 100]×[-100, 100]; radial basis function width σ kk Uniformly distributed within [80, 130]; γ is 1; the initial weights of the radial basis function are uniformly distributed with...

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Abstract

The invention relates to a finite-time multi-robot cooperation control method based on a vent-driven mechanism. The method comprises the steps that firstly, a radial basis function network is adopted to build an environment quality parameter model, and secondly, on the basis of the environment quality parameter model, gradient information of environment quality parameters on robot positions can be obtained; then, a robot controller vent trigger rule is built, a proportional relation between a robot measuring error and the state is measured, when the proportional relation between the error and the state reaches the threshold value, input updating is controlled, or, the input is kept unchangeable; and finally, a finite-time controller is adopted to control a multi-robot system to move towards the direction of the maximum value of the environment quality parameters. According to the method, it is ensured that multiple robots rapidly track the optimal value of the environment quality parameters, a group structure is kept stable, and meanwhile, updated energy of the controller is saved.

Description

technical field [0001] The invention belongs to the technical field of automation, and relates to a multi-robot cooperative control method oriented to environmental quality parameter monitoring, in particular to a limited-time multi-robot cooperative control method based on an event-driven mechanism. Background technique [0002] Environmental quality is of great significance to human safety, such as the distribution of salt concentration, Ph value distribution, temperature distribution in the marine environment, the distribution of toxic gas concentration on land, and so on. These environmental parameters can well represent the quality characteristics of the environment, so they are collectively referred to as environmental quality parameters. How to quickly and effectively track the optimal value of environmental quality parameters is an extremely important issue in establishing the distribution model of environmental quality parameters. However, the distribution of envir...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/00
Inventor 吕强张皓洁刘士荣谢小高
Owner 浙江知多多网络科技有限公司
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