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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

Inactive Publication Date: 2018-07-03
CHONGQING UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

When multiple robots are in a circular formation, when the center and radius of the circle are constantly changing, the above method will no longer apply

Method used

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

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Embodiment Construction

[0021] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings; it should be understood that the preferred embodiments are only for illustrating the present invention, rather than limiting the protection scope of the present invention.

[0022] A robot circular formation control method based on distributed circle center and circle radius estimation, the specific process is:

[0023] First, in order to reduce the defects caused by the traditional centralized algorithm, a distributed position estimator is introduced to obtain the center position information of the formation, where the position of the center of the formation is related to the positions of all the working robots to be guarded. Each guard robot can know the real-time position information of the work robot it needs to guard, and each guard robot communicates with its adjacent guard robot to obtain the position information of the work robot cor...

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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.

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...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0291
Inventor 陈刚代明香
Owner CHONGQING UNIV
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