Multi-robot angle control round-up method based on fuzzy reasoning system

Abstract

The multi-robot angle control round-up method based on the fuzzy reasoning system, this method uses two layers of fuzzy reasoning to realize the multi-robot round-up strategy; the first layer of fuzzy reasoning system is the decision-making layer, which is used to identify the state of the round-up task and select the corresponding multi-robot Strategy; when the rounder is in the search state, the output Search of the fuzzy reasoning of the decision-making layer, and the rounder executes the search strategy; when the rounder is in the approaching state, the decision-making layer outputs Approach, that is, the approach strategy; when the rounder is in the rounding up state, the decision-making The layer outputs Surround, and the rounder performs the rounding strategy. Use the simulation program to conduct experiments. The environment of the simulation program is scaled down according to the parameters in the actual environment, and the movement of the robot conforms to the constraints of the kinematic model. Several simulation experiments under different initial conditions verify the feasibility of the algorithm and achieve good results.

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...

AI Technical Summary

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 does not reflect the actual operating state of the mobile robot in the environment, and it is difficult to verify the feasibility of the algorithm in the actual situation

Furthermore, the overall round-up process of multi-robot round-up is not given, which cannot cover various complex situations in multi-robot round-up tasks

Finally, due to the lack of perception and movement methods of escapers, it is easier for escapers to achieve roundup

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