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Robot team formation control method based on position estimation

A control method and robot technology, applied in the direction of three-dimensional position/channel control, etc., can solve the problem that the position information cannot be obtained accurately

Inactive Publication Date: 2015-08-19
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

For existing formation control algorithms or position-aware devices such as GPS, these position information are usually not accurately obtained

Method used

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  • Robot team formation control method based on position estimation
  • Robot team formation control method based on position estimation
  • Robot team formation control method based on position estimation

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[0127] In order to verify the effectiveness of the multi-robot system-based formation control method based on position estimation, the present invention verifies the validity of the verification method through MATLAB simulation, and conducts experiments to test its feasibility on a multi-robot mobile experimental platform independently built by the laboratory.

[0128] 1. First-order model simulation

[0129] The interactive topological diagram composed of the robots used is as follows: image 3 As shown, the initial positions used in the simulation are p(1)=(-3,-0.5), p(2)=(-0.5,0.2), p(3)=(0,-0.4), p( 4)=(-0.4,-0.3), p(5)=(0.3,0.4), p(6)=(0,0.45). Figure 4 and Figure 5 Results are shown for the multi-robot system of the single integrator model under the action of estimation law (2) and control law (5).

[0130] After adding the collision avoidance item, the trajectory of the robot and the estimated error control error results are as follows: Figure 6 and Figure 7 show...

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Abstract

The present invention provides a robot team formation control method based on position estimation. The method concretely comprises the process of first designing corresponding position estimators to different robot systems; secondary, designing first-order system position controllers based on the position estimator of a first-order system; and then realizing control of robot team formation according to the first-order system position controllers. In combination with the position estimators which act in different system models formed by multiple robots, effectively formation motion may be realized, desired formation configurations can be achieved, and when a formation process starts, desired formation effects can be formed even when positions of the robots may be arbitrary.

Description

technical field [0001] The invention belongs to the technical field of multi-robot formation control, and in particular relates to a robot formation control method based on position estimation. Background technique [0002] For multi-agents, sometimes it is necessary to implement a collective task in an autonomous way. Due to the above situation, it is necessary to study the distributed formation control of multi-agents only through local or partial measurement data. In the progress of control research, computability and communication provide advanced techniques for the distributed control of multiple mobile autonomous agent systems. [0003] After the most common formation control problem is established, we begin to study the situation where the agent perceives the relative position of neighbor nodes or achieves the desired formation formation by controlling the relative position coordinates without knowing their absolute positions. Some existing formation control algorithm...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
Inventor 夏元清阮广凯孙中奇蒲钒杨毅任雪梅娜茜泰
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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