A Target Point Allocation Method for Robot Formation

A distribution method and robot technology, applied in the field of robots, can solve the problems of not considering the selection of target points, the high precision required by sensors, and the low efficiency of formation formation, achieving strong practicability, avoiding collision with obstacles, and improving service life. Effect

Active Publication Date: 2022-02-11
汉中格润森智能科技有限公司
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  • Abstract
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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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  • A Target Point Allocation Method for Robot Formation
  • A Target Point Allocation Method for Robot Formation
  • A Target Point Allocation Method for Robot Formation

Examples

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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 method for allocating target points in robot formation. Step 1) calculate the set of path lengths from each robot to all target points according to the position coordinates of each robot and the target point; The extraction method selects elements in the path length set of the robot to form multiple formation matrices; step 3) calculates the norm of each formation matrix and sorts them, and the formation matrix corresponding to the smallest norm is the matrix of the formation forming the shortest path ; Step 4) Judging whether the formation-forming shortest path matrix is ​​the final target point distribution matrix, selecting the final target point distribution matrix, and the robot formation-forming target point distribution is completed. In an environment with obstacles, the present invention can realize high-efficiency formation formation with minimum time and path consumption, ie formation initialization, while avoiding obstacles, so as to achieve 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 Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0287G05D1/0088
Inventor 张鹏超李海婷
Owner 汉中格润森智能科技有限公司
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