Minimum Step Formation Method for Multiple Mobile Robots

A mobile robot and multi-robot technology, applied in two-dimensional position/channel control and other directions, can solve problems such as inability to meet high-efficiency formation tasks

Active Publication Date: 2019-09-03
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0006] Aiming at the problem that a plurality of mobile robots form a specific formation on a two-dimensional plane, the present invention overcomes the disadvantage that the prior art cannot meet the high-efficiency formation task, and on the basis of the existing complex Laplace formation, the present invention provides A minimum-step formation method for multiple mobile robots, aiming to predict each robot's final assembly position in the formation in the shortest time

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  • Minimum Step Formation Method for Multiple Mobile Robots
  • Minimum Step Formation Method for Multiple Mobile Robots
  • Minimum Step Formation Method for Multiple Mobile Robots

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Embodiment Construction

[0074] The novel technical solution of the present invention will be further described below in conjunction with accompanying drawings and actual formation cases.

[0075] For a multi-moving human system consisting of 5 robots, the 5 robots are distributed on a two-dimensional plane, and their coordinates are (-1.3077,-1.3499), (-0.4336, 3.0349), (0.3426, 0.7254), (3.5784 ,-0.0631), (2.7694,0.7147), which needs to be composed as figure 1 The specific shape formation shown, the shape can be represented by coordinates in the two-dimensional plane space as (-1,1), (0,0), (1,1), (1,-1), (-1,- 1) Deduce the algorithm process for this case:

[0076] Step 1, establish the motion model of multiple mobile robots in the complex plane

[0077] First establish a global coordinate system, and represent the two-dimensional plane space where the multi-robot moves with a complex plane. The coordinates of any point on the two-dimensional plane are expressed as (a, b), then the point is expre...

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Abstract

The invention discloses a multi-mobile-robot minimum step formation method, and the method comprises the following steps: 1), building a multi-mobile-robot motion model in a complex plane; 2), building a topological graph of a multi-mobile-robot system; 3), solving a complex Laplacian matrix; 4), configuring extreme points of the complex Laplacian matrix; 5), calculating distributed discrete control signals; 6), recording the displacement information and calculating the final position. The method can enable a robot to predict the final position of the robot in a formation in the shortest time, and is of a completely distributed type. The employed information is just the displacement information recorded by the robot, and there is no global coordinate system. The robot still can calculate the target position through the rotating speeds of the left and right wheels or the displacement information recorded by other local coordinate systems. The method efficiently helps the robot calculate the target position of the robot, and provides a feasible solution for the high-efficiency formation of multiple mobile robots.

Description

technical field [0001] The invention relates to the technical field of multi-mobile robot formation control, in particular, it is a method for predicting formation assembly locations by using path information recorded during robot travel, thereby accelerating robot formation. Background technique [0002] With the innovation of technology and the continuous expansion of robot application fields, a single robot can no longer meet the needs of human production and life in some aspects. Using multiple single robots with relatively simple structures and sensing capabilities to form a multi-robot collaborative system not only saves the cost of robot structure design, but also increases safety. As one of the hot issues in the research of multi-robot systems, multi-robot collaboration has shown a wide range of applications in military, national defense, industry, and life after more than 20 years of development. The basic problems of multi-robot collaborative system research inclu...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
Inventor 欧林林邹超禹鑫燚张集汇朱峰朱熠琛
Owner ZHEJIANG UNIV OF TECH
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