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Unmanned device formation method, storage device and processing device

A technology of unmanned equipment and distribution methods, applied in two-dimensional position/channel control, etc., can solve the problems of long overall time and uncompetitive conditions, so as to increase robustness and stability, and ensure reliability Effect

Active Publication Date: 2018-01-09
QINGDAO VEHICLE INTELLIGENCE PIONEERS INC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The disadvantage of this method is that when a certain robot fails to compete for the nearest vacant position continuously, because its own conditions are still not competitive, it has to occupy a far position. The formation time is similar to the barrel principle. , depends on the time it takes for the last robot to reach the target position, so this strategy will make the overall formation time longer

Method used

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  • Unmanned device formation method, storage device and processing device
  • Unmanned device formation method, storage device and processing device
  • Unmanned device formation method, storage device and processing device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0066] Such as figure 2 As shown, this embodiment allocates target points based on the auction negotiation mechanism, specifically:

[0067] Step A11, according to the position of each target point to be allocated in the preset target formation and the current position of each bidder, the auctioneer calculates the bidder and each target point to be allocated for each bidder The spatial distance between, as a row of the matrix; form the bidder-target point distance matrix;

[0068] Step A12, sending the location information of each target point to be allocated to each bidder, and a row of distance data corresponding to the bidder in the distance matrix;

[0069] After each bidder receives the location information of the target points to be allocated from the auctioneer, as well as the distance between himself and these target points, he must check whether these distance values ​​are correct; The sum of the distances between the target points will get a bidding chip and send ...

Embodiment 2

[0089] Similar to Embodiment 1, the difference is that it also includes after step A4:

[0090] Step A5, receiving the information about traveling to the corresponding target point sent by the winner.

[0091] After executing A5, it turns to step A11 to start the next round of auction until the number of bidders is reduced to zero.

[0092] This embodiment is applicable to the situation where the distance between the unmanned driving equipment to be formed and the distance between the target points to be allocated are relatively short. After the auction of a target point, wait for the winner to drive to the corresponding target point before starting next round of auction. Because when multiple unmanned vehicles drive to their respective target points at the same time, frequent obstacle avoidance and braking operations may occur in order to avoid collisions, resulting in prolonged formation time.

[0093] In Embodiment 1 and Embodiment 2, in step A11, if each of the unmanned ...

Embodiment 3

[0095] In this example, if image 3 As shown, in order to simplify the process, the target point allocation method adopted is as follows:

[0096] Step B1, according to the position of each target point to be assigned in the preset target formation and the current position of each unmanned device to be formed, for each unmanned device to be formed, respectively calculate the unmanned equipment and the sum of the spatial distances between the target points to be allocated;

[0097] Step B2, select the maximum value of the sum of the spatial distances obtained in step B1, select the unmanned device corresponding to the maximum value, and calculate the target point to be allocated closest to the unmanned device;

[0098] Step B3, sending the location information of the target point to be allocated to the unmanned device;

[0099] Step B4, receiving the confirmation message sent by the unmanned device, associating the target point to be allocated with the unmanned device; markin...

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Abstract

The invention relates to the field of intelligent drive, and specifically relates to an unmanned device formation method, storage device and processing device. In order to shorten the formation time of unmanned devices, the unmanned device formation method comprises the steps of selecting an unmanned device to be formed at the longest distance away from each target point to be allocated from the global optimal perspective; then selecting a target point to be allocated closest to the unmanned device in consideration with local optimum as a target point corresponding to the unmanned device; andrepeating the above steps, till a corresponding target point is allocated to each unmanned device to be formed, thus completing the formation. Moreover, a handshake communication mode similar to a contract flow is adopted in the formation process to ensure the communication reliability of a distributed unmanned device system to a certain extent and improve the robustness and stability of the distributed control system.

Description

technical field [0001] The present invention relates to the field of intelligent driving, in particular to a formation method for unmanned driving equipment, a storage device, and a processing device. Background technique [0002] The current research on collaborative control of robots involves cooperation between robots, robots and roadside equipment through communication to form formations, and complete complex tasks concurrently in time and space to improve work efficiency and enhance distributed sensing information. ability and adaptability to the environment. Each robot can complement each other in function, has the advantages of economy, reliability, fast response, etc., and has extremely important practical significance. It has broad application prospects in many aspects closely related to people, such as dangerous environment operations, space exploration, military operations, logistics, entertainment (robot football) and so on. [0003] In the prior art, most robo...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 要婷婷韩双双王迎春王飞跃
Owner QINGDAO VEHICLE INTELLIGENCE PIONEERS INC
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