Adaptive null-space behavior fusion method for multi-robot formation

A multi-robot and fusion method technology, applied in the field of multi-robot formation adaptive zero-space behavior fusion, can solve problems such as unfavorable engineering applications and lack of self-adaptability, and achieve the effect of good self-adaptability, taking into account efficiency and performance

Active Publication Date: 2018-11-16
HARBIN ENG UNIV
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Problems solved by technology

[0006] The above method is based on the traditional zero-space behavior fusion method for formation control. In the application, because its gain coefficient is a constant coefficient and is constrained by robo...

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  • Adaptive null-space behavior fusion method for multi-robot formation
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  • Adaptive null-space behavior fusion method for multi-robot formation

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Embodiment Construction

[0054] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and understandable, the present invention will be further described below in conjunction with the accompanying drawings:

[0055] figure 1 It is a flowchart of a multi-robot formation adaptive zero-space behavior fusion method.

[0056] Technical scheme of the present invention is realized like this:

[0057] (1) Decompose the movement process: in the multi-robot formation movement process, it can be decomposed into three kinds of movement behaviors, running to the target point, avoiding obstacles, and formation.

[0058] (2) Determining the priority of behavior: determine the execution order of the three kinds of motion behavior, and its priority is obstacle avoidance, running to the target point, and formation.

[0059] (3) Establish and solve the motion model of each behavior: Know the starting point, end point, obstacle position, formation expected formatio...

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Abstract

The invention relates to the control field of multi-robot formation control, and specifically relates to an adaptive null-space behavior fusion method for a multi-robot formation. The method comprisesthe steps: decomposing a movement process of robots according to the movement intention of the robot formation, determining a behavior sequence, building movement models, performing the solving through combining the execution sequence of three types of movement behaviors to obtain three movement models, solving and obtaining a gain coefficient according to the movement information obtained by therobots in the movement process through feedback, and carrying out the fusion of the movement behaviors to obtain a final speed and direction. Compared with a conventional null-space behavior fusion method, the method enables the solved speed not to change with the changes of a working environment, is good in adaptability, gives consideration to the efficiency and performance, can achieve the effective control of speed, and remarkably improves the movement planning.

Description

technical field [0001] The invention relates to the field of multi-robot formation control, in particular to a multi-robot formation adaptive zero-space behavior fusion method. Background technique [0002] The application of robots has become more and more widespread, and has penetrated into almost all fields of scientific development. The characteristics of low cost, strong robustness, and good task completion of multi-mobile robot systems have made multi-mobile robot systems receive more and more attention. . In recent years, the coordination problem of multiple mobile robot systems has become an emerging research hotspot. Robot formation control refers to the control technology in which multiple robots maintain a certain formation while adapting to environmental constraints (such as obstacles and physical limitations of space, etc.) during the process of reaching the destination. The multi-robot formation control problem is a typical and general multi-robot coordinatio...

Claims

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Application Information

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IPC IPC(8): G05D1/02G05B13/04
CPCG05B13/042G05D1/0291
Inventor 范佳佳廖煜雷李晔姜文王磊峰姜权权贾知浩贾琪杜廷朋陈启贤
Owner HARBIN ENG UNIV
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