Multi-mobile robot control system based on following pilot formation

A technology for mobile robots and following robots, applied in control/regulation systems, non-electric variable control, two-dimensional position/channel control, etc., to achieve the effects of reduced dependence, small error accuracy, and simple and practical control strategies

Inactive Publication Date: 2018-12-21
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the face of increasingly complex tasks and environments, traditional single robots cannot meet the needs

Method used

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  • Multi-mobile robot control system based on following pilot formation
  • Multi-mobile robot control system based on following pilot formation
  • Multi-mobile robot control system based on following pilot formation

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Experimental program
Comparison scheme
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Embodiment

[0051] combine figure 1 , the multi-mobile robot control system based on following the navigator formation in the embodiment of the present invention includes an experimental environment image acquisition module, a host computer positioning module, a vehicle-type mobile robot group, a communication module, and a control algorithm module, wherein:

[0052] The experimental environment image acquisition module is used to collect video images of a plurality of mobile robot formation experimental environments;

[0053] The positioning module of the upper computer uses an image processing algorithm to calculate the absolute position information of each robot in real time through the coordinate system calibrated by the camera;

[0054] The car-type mobile robot group is composed of a plurality of single mobile cars, and independently decides to complete the formation task;

[0055] The communication module performs data interaction and information sharing through wireless communica...

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Abstract

The invention discloses a multi-mobile robot control system based on following a pilot formation, which comprises an experimental environment image acquisition module, an upper computer positioning module, a car-like mobile robot group, a communication module and a control algorithm module, wherein the experimental environment image acquisition module is used for acquiring video images of a plurality of mobile robot formation experimental environments; the upper computer positioning module calculates absolute position information of each robot in real time by using an image processing algorithm through a coordinate system calibrated via a camera; the car-like mobile robot group is composed of a plurality of single mobile trolleys, and an autonomous decision is made to complete the formation task; the communication module performs data interaction and information sharing through a wireless communication manner; the control algorithm module coordinates and controls the whole system to complete the formation task based on the pilot-followed formation algorithm. The multi-mobile robot control system based on following a pilot formation in the invention is a multi-robot formation systemwhich is based on visual positioning and suitable for the indoor and has the characteristics of strong reliability and strong real-time performance.

Description

technical field [0001] The invention relates to the technical field of robot intelligent control, in particular to a multi-mobile robot control system based on formation following a leader. Background technique [0002] Robots are widely used in social production and life and scientific research because of their flexibility, improved production efficiency, high safety factor, and easy management. In the face of increasingly complex tasks and environments, traditional single robots cannot meet the needs. Therefore, through collaborative control among multiple robots, the shortcomings of a single robot in information perception, processing, and control in a dynamic environment can be compensated, the work efficiency of the robot can be improved, and tasks that cannot or are difficult to complete by a single robot can be completed. [0003] In the multi-robot control system, the cooperative control technology of multi-robot is the frontier field of robot technology, and the mu...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0246G05D1/0295
Inventor 刘流刘阳马倩周国鹏熊春萍
Owner NANJING UNIV OF SCI & TECH
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