Eureka AIR delivers breakthrough ideas for toughest innovation challenges, trusted by R&D personnel around the world.

Distributed multi-robot containment collision prevention control method

A multi-robot, control method technology, applied in the field of intelligent robots

Inactive Publication Date: 2015-09-09
EAST CHINA JIAOTONG UNIVERSITY
View PDF2 Cites 22 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is, in order to solve the problem of collision avoidance between robot individuals, the present invention provides a kind of known based on local information that can solve the problem of collision between robot individuals when the size of the robot group increases and the topology of the group network is controllable Contains the control method

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Distributed multi-robot containment collision prevention control method
  • Distributed multi-robot containment collision prevention control method
  • Distributed multi-robot containment collision prevention control method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0057] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0058] The steps of the specific embodiment of the present invention are as Figure 7 shown.

[0059] Using bipartite graph maximum matching algorithm to determine the schematic diagram of driving nodes: Generally speaking, the goal of complex network control is to make the entire network controllable and reach the expected state by inputting signals to several selected control nodes.

[0060] In modern control theory, system controllability is a more general concept that reflects the ability of the input to control the system state. Given a linear steady-state control system:

[0061] x · = Ax ( t ) + Bu ( t ) , x ∈ R N , ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

A distributed multi-robot containment control method comprises the following steps: (1) determining leader and follower sets in a directed network according to the communication relationship between robots in the network; (2) designing a position control operator of the follower robots when the leaders are static; (3) introducing a potential energy function to ensure that collision between the follower robots in the process of movement is prevented, and forming a containment control rate when the leaders are static; (4) designing a position control operator of the follower robots when the leaders are dynamic; (5) introducing an exponential estimator to a control strategy formulated for the follower robots to estimate the speed of the leader robots, realize the transformation from locally knowable to globally knowable and determine a speed control operator of the follower robots; and (6) integrating the position control operator and a direction control operator of the robots in a weighted manner, introducing the potential energy function to ensure that collision between individuals in the process of movement is prevented, and forming a distributed containment control rate of the dynamic robots.

Description

technical field [0001] The invention relates to the technical field of intelligent robots, in particular to a distributed multi-robot control method including collision avoidance. Background technique [0002] With the continuous maturity and development of computer technology, control theory, artificial intelligence theory, and sensor technology, robotics research formed by interdisciplinary research has also entered a new stage. From programmable, teaching and reproducing industrial robots to robots with certain sensing capabilities and adaptability, to intelligent robots equipped with a variety of advanced sensors and strong adaptability, the research work of robotics has gone through a process from From simple to complex, from single function to multiple functions, from industrial manufacturing to military reconnaissance, nuclear industry, aerospace, service industry, genetic engineering and many other fields. It can be predicted that in the near future, the application...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
Inventor 陈世明王培柯予宸裴惠琴
Owner EAST CHINA JIAOTONG UNIVERSITY
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com