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A distributed optimization method for multi-robot event-driven communication

An event-driven, multi-robot technology, applied in the field of automation, can solve the problems of robot electromagnetic source positioning accuracy, large amount of calculation, multi-communication bandwidth, etc., to achieve the effect of improving resource utilization efficiency, reducing burden, and optimizing network communication

Active Publication Date: 2021-09-21
HANGZHOU DIANZI UNIV
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AI Technical Summary

Problems solved by technology

However, the traditional method needs to establish a discrete probability map, which leads to a large amount of calculation and is not suitable for real-time computing of robots.
In addition, judging the possible location of the electromagnetic signal source by exchanging probability maps in real time requires a lot of communication bandwidth
With the increase in the number of robots, the number of communication links increases, and the communication burden gradually increases, which has a greater impact on the accuracy of the robot's electromagnetic source positioning

Method used

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  • A distributed optimization method for multi-robot event-driven communication
  • A distributed optimization method for multi-robot event-driven communication
  • A distributed optimization method for multi-robot event-driven communication

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Embodiment Construction

[0025] Take the field search for electromagnetic signal nodes in infinite sensor networks as an example. The search environment is 200 meters long and 200 meters wide, and a coordinate system is established, which can be expressed as [-100, 100]×[-100, 100]. Four robots (n=4) were employed.

[0026] The specific implementation steps for the i-th robot in the robot group are as follows:

[0027] The first step: calculate the relevant parameters of the robot, the specific steps are as follows:

[0028] a. Establish the communication matrix A of the robot group A=[a ij ]. Such as:

[0029]

[0030] b. Initialize the parameters of the electromagnetic signal intensity distribution model, including: the number m of radial basis functions is 20; the center of radial basis functions u j (j=1, 2,..., m) are uniformly distributed in [-100, 100]×[-100, 100]; radial basis function width σ j uniformly distributed within [80, 130]; the initial weight β of the radial basis function ...

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Abstract

The invention relates to a distributed optimization method for multi-robot event-driven communication. The present invention first establishes the distribution model of the electromagnetic signal intensity according to the electromagnetic signal intensity received by each robot, and obtains the electromagnetic signal intensity gradient information of the robot's current position, and gives the reference direction of the robot's movement; then, establishes event-driven communication conditions , by comparing the size between the robot's current state error and the multi-robot state error, determine whether the event-driven condition is met, if the condition is met, the robot needs to send its own state to the neighbor robot; if the condition is not met, the robot stops communication The present invention makes up for the shortcomings of traditional control, and the designed multi-robot event-driven communication distributed optimization method can reduce the communication burden and save chip resources while ensuring that the multi-robots accurately locate the electromagnetic source and maintain the group formation.

Description

technical field [0001] The invention belongs to the technical field of automation and relates to a distributed optimization method for multi-robot event-driven communication. Background technique [0002] The location of electromagnetic sources has very important practical significance, for example: find out the electromagnetic sources that have an important impact on people's health in the office, and establish the distribution map of electromagnetic signal strength; rescuers, etc. Therefore, how to quickly and effectively locate the electromagnetic source is an extremely important issue, and the method of multi-robot cooperation to locate the electromagnetic source can usually be used. The traditional method of multi-robot cooperative positioning of electromagnetic sources mainly evaluates the location of electromagnetic sources by establishing a probability map of the location of electromagnetic sources. Then, the robot transmits the signal strength of the electromagneti...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
Inventor 吕强胡敏石厅仲朝亮
Owner HANGZHOU DIANZI UNIV
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