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Task search and task execution methods for multi-robot swarms

A multi-robot, task execution technology, applied in the direction of instruments, adaptive control, computing, etc., can solve the problems of not being able to highlight the advantages of multi-robot systems, reducing task execution efficiency, stagnation, etc.

Active Publication Date: 2019-05-17
NANTONG UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Simply superimposing the functions of each robot will not highlight the advantages of the multi-robot system. On the contrary, when the multi-robot system encounters complex situations, it will lead to conflicts among the robots, and even stagnation or deadlock, reducing the execution efficiency of tasks.

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  • Task search and task execution methods for multi-robot swarms
  • Task search and task execution methods for multi-robot swarms
  • Task search and task execution methods for multi-robot swarms

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Experimental program
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Embodiment Construction

[0078] A task search and task execution method for a multi-robot swarm, comprising:

[0079] (1) Task search layer strategy

[0080] Assume that the position of the robot in the task search layer is the initial position, the node at the initial position is S, the robot starts from the initial position, and searches for tasks randomly, and the search radius of the robot in the alliance is r=10. When the robot distance d is [0,10], it means that the robot has searched for the task;

[0081] When a robot searches for tasks, the system numbers them according to the sequence in which the robots search for them. In order to avoid conflicts when selecting robots, the system selects robots according to the sequence of task numbers. Since tasks are a static quantity, it is impossible to select a robot to execute the tasks. task, so place m ants on each task, use ants as dynamic factors instead of tasks to select the appropriate robot or alliance to perform the task; if the task repres...

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Abstract

The invention discloses a task-search and task execution method for multiple robot groups, comprising a task search layer strategy, and a task search flow. A task reception layer classifies the multi-robot cooperation into the following three forms according to different forms of the tasks and the different cooperation forms of the robots: multi-robot serial cooperation, multi-robot synchronization cooperation and multi-robot free cooperation. The invention is applicable to performing more complicated tasks, divides the complicated task into multiple parts and lets multiple robots to finish the task through mutual cooperation. Compared with the single robot, the task-search and task execution method for multiple robot groups is high in efficiency.

Description

technical field [0001] The invention relates to a task search and task execution method of a multi-robot group. Background technique [0002] In recent years, with the development of science and technology, robot technology has been continuously improved. Faced with the increasingly complex tasks, a single robot can no longer meet the production requirements in many environments, so researchers at home and abroad have paid a lot of attention to multi-robot technology, and proposed the use of multi-robot collaboration to replace single-robot work. [0003] The research of multi-robot collaboration is not to superimpose the functions of individual robots in the usual sense, but to achieve the effect of one plus one greater than two through the cooperation of each sub-robot in the system. Simply superimposing the functions of each robot will not highlight the advantages of the multi-robot system. On the contrary, when the multi-robot system encounters complex situations, it wi...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/02G06F17/50
Inventor 张兴国莫亚梅周东健姜学耘刘建鹏李成浩郭旭张柏
Owner NANTONG UNIVERSITY