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

A multi-robot, robot technology, applied in instruments, two-dimensional position/channel control, non-electric variable control and other directions, can solve the problems of high sensor usage, high communication frequency, and easy endurance problems, so as to improve efficiency and feasibility. performance, improve battery life, and ensure stability

Active Publication Date: 2019-01-25
UNIV OF SCI & TECH OF CHINA
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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 o

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

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Embodiment Construction

[0053] The disclosure provides a multi-robot formation endurance method based on leader switching, including: forming a formation of multiple robots to establish communication with a ground base station; judging whether the power of the leader robot in the current formation meets the minimum power required to complete the leader switching task If the requirements are not met, the formation task will end, and if it is satisfied, it will continue to execute; each robot will update the power information in real time based on the current power according to the performance function and send it to the leader robot; the leader robot selects the optimal information in the performance function, judges Whether the performance function meets the threshold condition, returns to the loop if it does not meet the threshold condition, and selects the follower robot that provides the best information as the leader robot to be replaced if the threshold condition is met; finally, replace the leade...

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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 ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0293G05D1/0295
Inventor 秦家虎陈宇航王帅高炤林奕爽
Owner UNIV OF SCI & TECH OF CHINA
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