Formation changing method for multi-robot system on basis of multiple movement models and multi-view geometry

Abstract

The invention discloses a formation changing method for a multi-robot system on the basis of multiple movement models and multi-view geometry. The method comprises steps as follows: geometric tensors of mutual projections of the multi-robot system in a target formation are calculated; a geometric tensor of every moment is calculated and compared with the geometric tensors in the first step, if the geometric tensors are the same, the formation changing is completed, if the geometric tensors are different, one following robot is selected and marked as C1, two guide robots are marked as C2 and C3, two focus tensors between C1 and C2 and between C1 and C3 are calculated, two projection lines of a C1 target position on an image are calculated, and an intersection point of the two projection lines is a projection point x of the C1 target position on the image; C1 is enabled to move along a connecting line of the initial position and x until projection point positions of C1 on camera images of C2 and C3 and the projection position after formation changing are overlapped, and the other following robots are processed in the same manner one by one, so that the formation changing of the multi-robot system is completed. With the adoption of the method, the system is enabled to achieve a high-precision formation changing function in the complicated wild environment.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a multi-robot system formation transformation method based on multi-motion mode and multi-viewpoint geometry. Background technique [0002] Robotics is a compound system discipline involving sensing, mechanical transmission, computer science, cognitive social science and other fields. In the fields of military, national defense, security, industry, transportation, etc., mobile robots replace humans to perform various tasks, and their advantages in efficiency and safety are also reflected. Among them, multiple robots with relatively simple structures and sensing means cooperate to complete a complex task, which increases safety while reducing the cost of the robot mechanism. For example, in a dangerous environment, robots cooperate to perform transportation tasks, which can avoid various injuries caused by the dangerous environment to personnel. Therefore, people consider that a ...

AI Technical Summary

Problems solved by technology

However, in the face of complex field environments, the existing multi-robot control technology requires a unified queue representation framework, which has poor formation transformation ability and weak applicability during movement.

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