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Multi-robot system self-adaptive decentralized cooperative control method and system thereof

A collaborative control, multi-robot technology, applied in the control/regulation system, non-electric variable control, two-dimensional position/channel control, etc., can solve the problem of multi-robot conflict and contradiction.

Active Publication Date: 2019-07-26
吉林省吉创科豹科技有限公司
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Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a multi-robot system adaptive decentralized collaborative control method and system for the above-mentioned defects of the prior art, aiming to solve the problem of conflicts and contradictions between multi-robots in the prior art

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  • Multi-robot system self-adaptive decentralized cooperative control method and system thereof
  • Multi-robot system self-adaptive decentralized cooperative control method and system thereof
  • Multi-robot system self-adaptive decentralized cooperative control method and system thereof

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[0058] In order to make the object, technical solution and advantages of the present invention more clear and definite, the present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0059] Please also see Figure 1-Figure 4 , the present invention provides some embodiments of a multi-robot system adaptive decentralized cooperative control method.

[0060] For the formation problem of autonomous mobile robots, the conflict is mainly collision, that is to say, multiple robots cannot be in the same position at the same time.

[0061] like figure 1 Shown, a kind of multi-robot system adaptive decentralized cooperative control method of the present invention comprises the following steps:

[0062] Step S10, establishing a dynamic model of the multi-robot system.

[0...

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Abstract

The invention discloses a multi-robot system self-adaptive decentralized cooperative control method and a system thereof. The method comprises the following steps that when other robots are positionedin the interaction area of the body robot, the body robot establishes interactive communication with other robots and controls the body robot and other robots to generate aggregation force; and whenthe other robots are positioned in a buffer area of the body robot, the body robot and the other robots are controlled to generate repulsion force, wherein the buffer area is positioned in the interaction area. By controlling the aggregation force and the repulsion force between the adjacent robots in the buffer area, the multiple robots can maintain the initial interconnection relationship of thenetwork and avoid collision among members.

Description

technical field [0001] The present invention relates to the technical field of multi-agent system cooperative control, in particular to a multi-robot system adaptive decentralized cooperative control method and system. Background technique [0002] Multi-robots refer to two or more robots. Collaboration means that robots cooperate to complete a task through a mechanism. For autonomous mobile robot formation problems, cooperation is to maintain formation, and the positions of each robot at each moment meet a certain a mathematical relationship. In the prior art, conflicts and contradictions are prone to occur between multiple robots, for example, collisions between robots. [0003] Therefore, the prior art still needs to be improved and developed. Contents of the invention [0004] The technical problem to be solved by the present invention is to provide a multi-robot system adaptive decentralized collaborative control method and system for the above-mentioned defects of ...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0287
Inventor 康冰侯震刘富姜辉杜成岩辛若栋任丽莉闫冬梅
Owner 吉林省吉创科豹科技有限公司
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