Trajectory prediction method for multiple mobile robots

A mobile robot and trajectory prediction technology, applied in the direction of instruments, non-electric variable control, two-dimensional position/channel control, etc., can solve the problem of insufficient estimated information

Inactive Publication Date: 2017-08-18
ZHEJIANG UNIV OF TECH
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AI Technical Summary

Problems solved by technology

[0005] The present invention overcomes the shortcoming of insufficient information for future estimation of mobile robots in the prior art, and aims at the trajectory prediction problem of multiple mobile robots moving in a fixed formation in a two-dimensional plane, b

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  • Trajectory prediction method for multiple mobile robots
  • Trajectory prediction method for multiple mobile robots

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Embodiment Construction

[0072] The novel technical solution of the present invention will be further described below in conjunction with accompanying drawings and actual formation cases.

[0073] Suppose there is a multi-mobile human system composed of 5 robots, and 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), where the two pilot nodes are moving to the right at a speed of 0.04 meters per second, such as image 3 shown. Deduce the algorithm process for this case:

[0074] Step 1, establish the motion model of multiple mobile robots in the complex plane

[0075] First establish a global coordinate system, and represent the two-dimensional plane space where the multi-robot move...

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Abstract

The invention relates to a trajectory prediction method for multiple mobile robots, which comprises the steps of 1) building a multi-mobile-robot motion model in a complex plane; 2) building a topological graph of a multi-robot system; 3) solving a complex Laplacian matrix; 4) solving a stable matrix; 5) calculating a distributed discrete control signal; and 6) recording displacement information and calculating the final position. According to the invention, each robot can be enabled to predict a trajectory path thereof in the future within the shortest time, the method is completely distributed, and the utilized information is only the displacement information recorded by the robots by themselves. In addition, the robots can also work out the target position thereof by using the rotating speed of left and right wheels or displacement information recorded by other local coordinate systems if a global coordinate system is not available. The method helps the robots to calculate the target position thereof efficiently, and provides a feasible scheme for efficient formation of multiple mobile robots.

Description

technical field [0001] The invention relates to a trajectory prediction method for multiple mobile robots, in particular to a process of distributed formation of robots, each robot can predict the future trajectory in the shortest time by recording its own path information, thereby providing individuals with more Information for real-time obstacle avoidance or formation stability. Background technique [0002] With the innovation of technology and the continuous expansion of robot application fields, the multi-mobile robot system has attracted extensive attention of scholars in recent years, and its technology has also achieved considerable development. 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 ...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0289G05D1/0291
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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