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Distributed multi-mobile robot formation control method based on eso

A technology of mobile robot and control method, which is applied in two-dimensional position/channel control and other directions

Active Publication Date: 2017-07-28
ZHEJIANG UNIV OF TECH
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  • Abstract
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Problems solved by technology

[0005] In order to solve the problems of complex control controller design, large amount of calculation, large amount of communication, external interference and coupling problems in multi-mobile robot formation control, the present invention provides a relatively simple, easy-to-implement and better control effect A distributed control method for solving the multi-mobile robot formation control problem

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  • Distributed multi-mobile robot formation control method based on eso
  • Distributed multi-mobile robot formation control method based on eso
  • Distributed multi-mobile robot formation control method based on eso

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Embodiment Construction

[0042] The present invention will be further described below in conjunction with the accompanying drawings.

[0043] refer to figure 1 with figure 2 , an ESO-based distributed multi-mobile robot formation control method, comprising the following steps:

[0044] 1) Modeling the mobile robot: refer to figure 1 , taking the three-wheeled mobile robot as the object, the continuous system deviation model of a single mobile robot i:

[0045]

[0046]

[0047] Among them, (x e,i ,y e,i ,α e,i ) represents the orientation deviation of the mobile robot i relative to the virtual mobile robot i, including the deviation x on the x and y axes e,i ,y e,i and the angular deviation α of the running line speed e,i , the virtual mobile robot is a hypothetical mobile robot running on the reference trajectory according to the set running state, assuming that the virtual mobile robot i is near the tracking point P, and the curvature at point P is k P,i , k(s i ) is the curvature o...

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Abstract

The invention discloses a distributed multi-mobile-robot formation control method based on ESO, comprising steps of 1) performing modeling on a multi-mobile-robot to obtain a distributed discrete state space deviation model of a multi-mobile-robot, 2) designing a performance index according to the distributed discrete state space deviation model of the multi-mobile-robot and calculating a prediction control quantity of the subsystem, 3) designing an extension state observer of the mobile robot to obtain a disturbance estimation value of the mobile robot, and 4) utilizing the obtained disturbance estimation value to design a combination controller based on the extension state observer. The invention provides a distributed multi-mobile-robot formation control method which is simple and easy to implement, and has a good anti-interference capability.

Description

technical field [0001] The invention relates to mobile robot control, in particular to a multi-mobile robot distributed formation control method. Background technique [0002] With the continuous expansion of the application field of multi-mobile robots, people hope that multi-mobile robots can better complete more difficult tasks; multi-mobile robots can cooperate with each other, and each robot can adjust its own state according to the operating state of other robots etc., in order to achieve the effect of coordinated control. In the collaborative control of mobile robots, the formation control of multiple mobile robots is the most basic and important goal. The so-called formation control refers to the control problem in which multiple mobile robots maintain a certain formation while meeting environmental constraints (such as avoiding obstacles). [0003] The main problems of multi-mobile robot formation control are as follows: 1) It is difficult to establish an easy-to-...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
Inventor 刘安东张荣超张文安滕游俞立
Owner ZHEJIANG UNIV OF TECH
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