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Multi-robot cooperation time sequence predictive control method

A time series prediction and control method technology, applied in the field of automation, can solve problems such as complex distribution of environmental quality parameters

Active Publication Date: 2015-08-26
浙江知多多网络科技有限公司
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Problems solved by technology

However, in the actual environment, due to the influence of different factors such as ocean currents, temperature, and wind force, the distribution of environmental quality parameters is extremely complex. Due to the existence of uncertain factors using the gradient method, the environmental quality parameter model established by the multi-robot system only has local features

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  • Multi-robot cooperation time sequence predictive control method

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Embodiment Construction

[0047] A kind of multi-robot cooperative timing predictive control method proposed by the present invention, the specific implementation is as follows:

[0048] Taking the distribution of salt concentration in the marine environment as an example, set the environmental range to be monitored as 400 meters long and 400 meters wide, and establish a coordinate system. The environmental monitoring range can be expressed as [-200, 200] × [-200, 200]. Ten robots (n=10) were used to collect the salinity concentration of the environment cooperatively, and a salinity concentration distribution model was established.

[0049] The specific implementation steps for the i-th robot in the robot group are as follows:

[0050] The first step is to establish the environmental quality parameter model of the i-th robot, that is, the radial basis function network as shown in (1).

[0051] f i ( x ) = ...

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Abstract

The invention relates to a multi-robot cooperation time sequence predictive n control method. The method includes the following steps that: a radial basis function network is adopted to establish an environmental quality parameter model; an environmental quality parameter optimization problem is established based on the environmental quality parameter model; an environmental monitoring task is represented by a linear time sequence logic method, and a finite state transfer system is established; and finally, a multi-robot cooperation control optimization problem is established, and based on ideal optimal movement trajectories of robots, an actual optimal control sequence of the robots is generated through adopting a predictive control method, and first control in the actual optimal control sequence is inputted to the robots so as to control the movement of the robots. With the multi-robot cooperation time sequence predictive control method of the invention adopted, deficiencies of traditional control can be made up, and environmental regions can be explored sequentially with a multi-robot tracking environmental quality parameter optimal value ensured, and collision avoidance of multi-robot movement can be maintained, and the velocity differences of the multi-robot movement are bounded.

Description

technical field [0001] The invention belongs to the technical field of automation, and relates to a multi-robot cooperative sequence prediction control method for environmental quality parameter monitoring. 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 environmental quality parameters presents different characteristics in different environments. Usua...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 吕强刘士荣张波涛谢小高
Owner 浙江知多多网络科技有限公司
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