Multi-robot angle control surround method based on fuzzy inference system

Abstract

The invention provides a multi-robot angle control surround method based on a fuzzy inference system. According to the method, a multi-robot surround strategy is realized by adopting two layers of fuzzy inference; the first layer of fuzzy inference system is a decision layer which is used for identifying the state of a surround task and selecting a corresponding multi-robot strategy; when surround persons are in the search state, the decision layer outputs Search through fuzzy inference, and the surround persons perform the search strategy; when the surround persons are in the approach state, the decision layer outputs Approach, i.e. the surround persons perform the approach strategy; and when the surround persons are in the surround state, the decision layer outputs Surround, and the surround persons perform the surround strategy. The experiment is performed by using the simulation programs, the environment of the simulation programs is proportionally reduced according to the parameters in the actual environment, and movement of robots meets the kinematic model constraint. Multiple times of the simulation experiment is performed under different initial conditions so that feasibility of the algorithm is verified and great effect is achieved.

Description

Technical field: [0001] The invention relates to a multi-robot round-up strategy based on angle control in a dynamic environment, in particular to a multi-robot angle-controlled round-up method based on a fuzzy reasoning system. Background technique: [0002] Due to the incomparable advantages of a single robot such as spatial distribution, functional diversity, parallelism when performing tasks, strong fault tolerance and lower economic costs, the multi-robot system has made the multi-robot system in recent years. become a hot spot of widespread concern. The main issues of multi-robot system research include group structure, task allocation, communication methods, collaborative learning, etc. In order to make the research more meaningful in actual scenarios, the researchers focused on some multi-robot tasks, including formation cooperation, search, round-up, etc. Among them, multi-robot collaborative round-up is a very typical problem. It involves many aspects in the fiel...

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Problems solved by technology

[0015] However, the above research work has not fully considered the following related issues in the multi-robot round-up strategy: First, the actual effectiveness of the strategy cannot be guaranteed due to the oversimplification of the multi-robot problem.

Secondly, in the simulation environment, there are too many restrictions on the movement mode of the mobile robot, and the kinematic constraints of the robot are not considered, which

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