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Event-driven fixed time electromagnetic source positioning method

An event-driven, fixed-time technology, applied in the field of automation, which can solve the problems of occupation, increased communication burden, occupation, etc.

Active Publication Date: 2019-08-20
HANGZHOU DIANZI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The traditional multi-robot cooperative positioning method not only requires real-time communication between robots, but also exchanges status information between robots, which occupies more wireless network resources.
Moreover, when increasing the number of robots, the burden of communication increases rapidly
In addition, the controller needs to be updated in real time, and many useless control inputs are still used by the system, occupying more chip resources; on the other hand, the convergence speed of the robot state depends on the initial position of the robot, and the robot needs more time to detect and Locating Electromagnetic Sources

Method used

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  • Event-driven fixed time electromagnetic source positioning method

Examples

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Embodiment Construction

[0056] Take the field search for signal nodes in infinite sensor networks as an example. The search environment is 50 meters long and 50 meters wide, and the coordinate system is established, which can be expressed as [0, 50]×[0, 50]. Three robots (n=3) are used, and the event-driven fixed-time electromagnetic source localization method is used to control the robot to finally locate the sensor nodes.

[0057] The specific implementation steps for the i-th robot in the robot group are as follows:

[0058] Step 1: Initialize the parameters of the robot, including: the initial position of the robot, the initial speed of the robot is set to 0, and the maximum speed limit is set according to the type of robot actually used.

[0059] Step 2: Calculate the system parameters of the robot, the specific steps are as follows:

[0060] a) Establish the proximity matrix A=[a of the robot group ij ]. like:

[0061]

[0062] b) Establish the Laplacian matrix of the robot population ...

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Abstract

The invention relates to an event-driven fixed time electromagnetic source positioning method. The method comprises the following steps: evaluating a possible location of an electromagnetic source byadopting an evolution particle filtering method according to electromagnetic signal intensity and direction received by a robot; and giving an event-driven communication rule, and then determining whether the event is driven by comparing the current state error of the robot with the state error between the robots; if the condition is satisfied, regarding that the event is driven, wherein the robotneeds to send the own state information to a wireless network, or does not send the state information; and finally, developing a fixed time consistency controller, and guiding a multi-robot system tomaintain consistency with a virtual leader velocity in the fixed time interval through a virtual leader, and moving to a location direction of the electromagnetic source. The disadvantage of the traditional control is remedied, the event-driven fixed time electromagnetic source positioning method is designed, multiple robots can quickly and accurately position the electromagnetic source, and thechip and the communication source can be saved.

Description

technical field [0001] The invention belongs to the technical field of automation and relates to an event-driven fixed-time electromagnetic source positioning method. Background technique [0002] The detection and location of electromagnetic sources is of great significance to human health and safety. Therefore, how to quickly and effectively locate the electromagnetic source is a very important issue. To deal with this problem, a multi-robot system can usually be used to cooperatively locate the electromagnetic source. The traditional multi-robot cooperative positioning method not only requires real-time communication between robots, but also exchanges state information between robots, which occupies more wireless network resources. Also, when increasing the number of robots, the burden of communication increases rapidly. In addition, the controller needs to be updated in real time, and many useless control inputs are still used by the system, occupying more chip resour...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S5/16
CPCG01S5/16
Inventor 吕强石厅张波涛仲潮亮
Owner HANGZHOU DIANZI UNIV
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