Multi-robot coordinative exploring technology combining autonomy and coordination

A multi-robot and robot technology, applied in the field of intelligent robots, can solve problems such as unreasonable selection strategy of navigation target points, computational complexity of coordination algorithms, and high requirements for computing resources and hardware of robots.

Inactive Publication Date: 2018-08-28
QIQIHAR UNIVERSITY
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Problems solved by technology

[0004] One is that each robot in the multi-robot system completely relies on communication to determine each operation target during the entire operation process. Once the communication fails, the robots will be at a loss. The hardware requirements of the robot's computing resources are too high; thirdly, the existing robot navigation target point selection strategy is unreasonable; finally, the existing technology is coordinated through a central controller. Once the controller fails, the system will will be paralyzed

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  • Multi-robot coordinative exploring technology combining autonomy and coordination
  • Multi-robot coordinative exploring technology combining autonomy and coordination
  • Multi-robot coordinative exploring technology combining autonomy and coordination

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Embodiment Construction

[0054] In order to make the objects and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0055] The specific implementation of the present invention provides a Multi-robot collaborative exploration technology combining autonomy and negotiation , characterized in that n heterogeneous mobile robots R 1 ,...,R n Multi-robot collaborative exploration is realized by combining the two working modes of autonomy and negotiation. Each robot creates a local occupancy grid map while exploring the environment; the technology includes the following steps:

[0056] S1. All robots select the direction of exploration sequentially according to the strength of their exploration ability, so that the robots can fully expand in the environment;

[0...

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Abstract

The invention discloses a multi-robot coordinative exploring technology combining autonomy and coordination. N heterogeneous moving robots R1 to Rn achieve coordinative exploration to unknown environment by means of combination of the two autonomy and coordination working modes, and finally achieve total coverage over the unknown environment. According to the technology, at first, the requirementfor hardware of all member robots in the multi-robot system is lowered, and in this way, the production and manufacturing cost of each robot is reduced at the same time. In addition, the robots of different manufacturers and different models can participate into the multi-robot system, and universality of the robots is improved. By means of introduction of the autonomy mode, the situation that allexisting robots work at the mode of the coordinative state is avoided, and the multi-robot is applied to the environment in which the unlimited distance and the unlimited bandwidth communication cannot be ensured.

Description

technical field [0001] The invention relates to the field of intelligent robots, in particular to a multi-robot collaborative exploration technology combining autonomy and negotiation. Background technique [0002] Compared with a single-robot system composed of an expensive robot, a multi-robot system composed of multiple cheap robots has many advantages. First, the failure of individual robots does not affect the normal operation of the system, that is, the system is redundant. The second is that the multi-robot system can complete tasks that a single robot cannot complete, such as handling larger objects, accelerating the exploration process, and so on. [0003] For a robot monitor described by a finite state automaton, when determining the state of the automaton, the conventional method is to divide the robot workspace, and different spatial poses correspond to different set elements. The disadvantage of this is the state set dimension is too big. Specifically, there a...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00
CPCB25J11/0005
Inventor 戴学丰张辉李大辉
Owner QIQIHAR UNIVERSITY
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