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A multi-robot formation adaptive zero-space behavior fusion method

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

Active Publication Date: 2021-05-28
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 robot motion factors (speed, starting point and end point), its value is different in each working condition. It needs to be re-selected and debugged, lacks adaptability, and is not conducive to engineering applications

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  • A multi-robot formation adaptive zero-space behavior fusion method
  • A multi-robot formation adaptive zero-space behavior fusion method
  • A multi-robot formation adaptive zero-space behavior fusion method

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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 field of multi-robot formation control, in particular to a multi-robot formation adaptive zero-space behavior fusion method. According to the robot formation movement intention, the robot movement process is decomposed, the behavior sequence steps are determined, and then the movement model steps are established, and the execution sequence of the three movement behaviors is solved to obtain three movement models. Motion information, solve to get the gain coefficient, and fuse the motion behavior steps to get the final speed and direction. Compared with the traditional zero-space behavior fusion method, the present invention makes the solved speed not changed by the working condition environment, has good adaptability, and takes into account both efficiency and performance, and can effectively control the speed. with significant progress.

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...

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Application Information

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Patent Type & Authority Patents(China)
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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