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A Multi-robot Cooperative 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: 2018-03-23
北京快又强科技有限公司
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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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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]

[0052] where: α j is the weight of the radial basis function; m is the number of radial basis functions...

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Abstract

The invention relates to a method for multi-robot cooperation sequence prediction control. The present invention first adopts the radial basis function network to establish an environmental quality parameter model, and then, on the basis of the environmental quality parameter model, establishes an environmental quality parameter optimization problem; next, expresses the environmental monitoring task with a linear sequential logic method, and establishes a finite state Transfer system; finally, establish the multi-robot cooperative control optimization problem, based on the ideal optimal motion trajectory of the robot, use the predictive control method to generate the actual optimal control sequence of the robot, and use the first control input in the actual optimal control sequence to the robot and control the movement of the robot. The invention makes up for the deficiencies of traditional control, and the designed cooperative sequential predictive control method can explore the environment area in an orderly manner while ensuring that the multi-robots track the optimal value of the environmental quality parameters, and keep the multi-robot movement collision avoidance and speed difference 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 Patents(China)
IPC IPC(8): G05B13/04
Inventor 吕强刘士荣张波涛谢小高
Owner 北京快又强科技有限公司
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