Distributed multi-robot dynamic network connectivity control method

A dynamic network and multi-robot technology, applied in the direction of non-electric variable control, control/regulation system, two-dimensional position/channel control, etc., can solve the problems of communication link interruption, network communication cost increase, etc., to overcome communication problems Effects of link interruption, communication load reduction, and enhanced scalability and robustness

Active Publication Date: 2016-10-26
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that the communication link of the multi-robot network is interrupted under the condition of dynamic change, and the

Method used

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  • Distributed multi-robot dynamic network connectivity control method
  • Distributed multi-robot dynamic network connectivity control method
  • Distributed multi-robot dynamic network connectivity control method

Examples

Experimental program
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Embodiment

[0074] In this example, the multi-robot network consists of 9 robot nodes, whose initial positions are randomly and evenly distributed in a space of 100m×100m, and the critical transmission distance d c =25m, the propagation attenuation coefficient is α=2, and the threshold of successful transmission probability is δ=e -1 . By calculating the second smallest eigenvalue λ of the Laplace matrix 2 And network global information connectivity U gm To evaluate the ability of the present invention to control and improve the connectivity of the multi-robot network.

[0075] In order to illustrate the effect of the present invention, in the control input u i Random disturbance ξ i , The perturbation obeys a uniform distribution on (-1,1), and the simulation time is 120 seconds. Compare this method with all neighbors Neigh i Keep connected and control input u i =0 control effect.

[0076] figure 2 Neigh for adoption with all neighbors i Keep connected and control input u i = 0 network topo...

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Abstract

The invention discloses a distributed multi-robot dynamic network connectivity control method, and belongs to the technical field of multi-robot dynamic network control. The method comprises minimum spanning tree distributed dynamic network topology control based on event drive and optimal neighbor communication link connectivity maintaining motion control based on a local artificial potential field. Each robot node periodically broadcasts the location thereof and updates neighbor information, the local minimum spanning trees of the neighbor networks of the nodes are established in a distributed manner, an optimal neighbor is selected, and the communication link with the optimal neighbor is maintained through a local artificial potential field method, so that global information connectivity is optimized and optimal network communication cost is achieved on the basis of maintaining the connectivity of the multi-robot dynamic network. There is no need for a center node to perform calculation in a centralized way, and distributed and parallel implementation can be carried out, so that the communication load is reduced, and the scalability and robustness of the multi-robot network are enhanced. The problem of communication link interrupt caused by robot motion can be overcome.

Description

Technical field [0001] The invention belongs to the technical field of multi-robot dynamic network control, and specifically is a dynamic network connectivity control method for distributed multi-robots. Background technique [0002] In recent years, the multi-robot collaboration technology has attracted more and more people’s attention, and its application range has become increasingly widespread, including aerial robot formations composed of multiple drones, ground robot formations composed of multiple unmanned vehicles, and A formation of underwater robots composed of multiple underwater vehicles, etc. In different applications, multiple robots can perform tasks that a single robot cannot accomplish through collaborative perception, information interaction, collaborative decision-making and control, and have higher flexibility, robustness and adaptability. [0003] Multi-robot network is the link that connects each robot. As a virtual body attached to each robot, it plays an im...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 蔡达吴森堂
Owner BEIHANG UNIV
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