Target point allocating method for robot team formation

A distribution method and robot technology, applied in the field of robots, can solve the problems of low efficiency of formation formation, poor obstacle avoidance effect, and high sensor accuracy, and achieve the effects of strong implementability, improved service life, and collision avoidance.

Active Publication Date: 2019-08-13
SHAANXI SCI TECH UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] At present, the target point allocation method of typical robot formations has poor obstacle avoidance effect and low formation formation efficiency
The Chinese patent "Path Planning Algorithm for Multi-robot Formation in Three-Dimensional Space" (application date: 2016.11.23; application number: 20161104678.3; publication date: 2017.03.15; patent number: CN106502250A) discloses the method of selecting target points based on the auction mechanism, This method does not consider the target point selection in the obstacle environment
This method depends on the sensor, and requires high precision for the sensor, which cannot be met by general experiments.

Method used

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  • Target point allocating method for robot team formation
  • Target point allocating method for robot team formation
  • Target point allocating method for robot team formation

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Embodiment

[0047] This embodiment provides a method for allocating target points in robot formation, which specifically includes the following steps:

[0048] Step 1) establish a plane coordinate system, calculate the path length set of each robot according to the position coordinates of each robot and the target point, the path length set of each robot is composed of the path lengths from each robot to all target points;

[0049] Step 1.1) Number the three robots according to 1, 2, 3, number the three target points according to 1, 2, 3, and establish a plane Cartesian coordinate system. The initial positions of the three robots are (0, 1, ), (1, 2), (1, 0), the coordinates of the three target points are (3, 2), (2.5, 1.5), (3.5, 1.5), and the coordinates of the two obstacles are (2, 2 ), (2, 1), the path of the robot to go around the obstacle is a semi-circular arc, and the radius of the semi-circular arc is r=2;

[0050] Step 1.2) Calculate the path length of each robot to reach each ...

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Abstract

The invention discloses a target point allocating method for robot team formation. The method comprises the steps of 1) calculating a path length set of each robot to all target points according to position coordinates of each robot and the target points; 2) selecting elements from the path length sets of the robots according to a permutation and combination random drawing method to form a plurality of formation matrixes; 3) calculating the norm of each formation matrix and sorting, wherein the formation matrix corresponding to the minimum norm serves as the matrix with the shortest path of the team formation; and 4) judging whether the matrix with the shortest path of the team formation is the final target point allocating matrix or not and selecting the final target point allocating matrix to complete the target point allocating of the robot team formation. The method disclosed by the invention has the beneficial effects that while the obstacle avoidance can be realized, the high-efficiency team formation with the least time and path consumption, i.e., the team formation initialization, can be realized at the same time in an environment with obstacles, thereby achieving the optimal path planning.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a target point distribution method for robot formation formation. Background technique [0002] At present, the target point allocation method of typical robot formations has poor obstacle avoidance effect and low formation formation efficiency. The Chinese patent "Path Planning Algorithm for Multi-robot Formation in Three-Dimensional Space" (application date: 2016.11.23; application number: 20161104678.3; publication date: 2017.03.15; patent number: CN106502250A) discloses the method of selecting target points based on the auction mechanism, This method does not consider the target point selection in the obstacle environment. Chinese patent "A method for assigning mobile multi-objective crowd sensing tasks" (application date: 2018-01-30; application number: CN201810089310.3; publication date: 2018-07-20; patent number: CN108304266A) discloses Considering the two goa...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0287G05D1/0088
Inventor 张鹏超李海婷
Owner SHAANXI SCI TECH UNIV
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