Multi-robot formation runtime-prolonging method based on pilot switching

Abstract

The invention provides a multi-robot formation runtime-prolonging method based on pilot switching. the multi-robot formation runtime-prolonging method comprises the steps of: forming a formation of aplurality of robots, and establishing communication between the plurality of robots and a ground base station; determining whether electric quantity of a pilot robot of the current formation satisfiesthe minimum electric quantity requirements for completing a pilot switching task, if not, finishing a formation task, and if so, continuing the execution; updating electric quantity information according to a performance function based on the current electric quantity by means of each robot, and transmitting the electric quantity information to the pilot robot; and selecting the optimal information in the performance function by means of the pilot robot, determining whether the performance function satisfies a threshold value condition, returning to circulation if the performance function does not satisfy the threshold value condition, and selecting a follower robot providing the optimal information as a pilot robot used for replacement if the performance function satisfies the thresholdvalue condition; and finally replacing the pilot robot. The multi-robot formation runtime-prolonging method fully utilizes the runtime-prolonging capability of all the robots in the formation, and prolongs the runtime of the overall formation.

Description

technical field [0001] The present disclosure relates to the field of robot formation endurance, in particular to a multi-robot formation endurance method based on leader switching. Background technique [0002] In modern society, there are still many extreme or dangerous environments that are not suitable for human activities, such as search and rescue after typhoons and earthquakes, military demining and investigation, etc. In these occasions, if a single or multiple robots can be used to replace humans to complete tasks, it will not only reduce casualties, but also effectively improve efficiency. [0003] The formation control of multi-robots is that multiple mobile robots can converge to a certain desired formation, maintain relative positions and adapt to the constraints of the surrounding environment during the process of reaching the destination. In recent years, with the deepening of more and more researches, many formation control algorithms have been proposed and ...

AI Technical Summary

Problems solved by technology

During the movement, the navigator uses the sensors more often than the ordinary follower, so it is more prone to battery life problems. How to improve the battery life of the multi-robot formation is also one of the current research hotspots.

Most of the existing formation methods consider achieving consistency or improving the stability of the system, and the issue of power management and scheduling is rarely involved

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