Multi-robot Circular Formation Control Method Based on Distributed Center and Radius Estimation

A multi-robot and control method technology, applied in two-dimensional position/channel control, control/regulation system, non-electric variable control, etc., to achieve the effect of improving the robustness of the system
CN105955274BInactive Publication Date: 2018-07-03CHONGQING UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
CHONGQING UNIV
Publication Date
2018-07-03
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention discloses a multi-robot circular formation control method based on distributed circle center and radius estimation, which includes the following steps: S1. The i-th guard robot obtains the position information ril(t) of adjacent operating robots; S2. The guard robot communicates and uses the distributed position estimator to obtain the estimated value pi(t) of the formation circle center; S3. Obtain the formation radius ρi(t) according to the maximum value consistency algorithm; S4. Use the formation controller to realize circular formation control. The present invention uses the idea of ​​distributed position estimation during the formation process, which can avoid using the position information of all robots in the formation and improve the system's robustness, reliability, and economy.
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Description

technical field

[0001] The invention relates to the field of robot control, in particular to a multi-robot circular formation control method based on distributed circle center and radius estimation. Background technique

[0002] With the development of communication technology and control theory, artificial intelligence and other related applications gradually show great advantages in dealing with large and complex practical problems. Mobile robots can perceive their own state and environmental information through various sensors, and can complete tasks autonomously according to the needs of the task. However, a single robot is often unable to complete certain tasks due to its own limitations, and requires multiple robots to complete. In the early days, centralized control algorithms were commonly used for such problems, but the need for global information has brought a series of problems to centralized systems. With the rapid development of research on multi-robot coordin...

Claims

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