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A real-time fully distributed method for multi-robot system formation

A multi-robot and robot technology, applied in the direction of control/regulation systems, instruments, motor vehicles, etc., can solve the problems of lack of universality, inability to obtain robot status and information, maintain formation, etc., and achieve a universal effect

Active Publication Date: 2021-07-16
XIDIAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In recent years, with the development of network technology, communication technology and information technology, the research on multi-robot system formation has made great progress, but some methods still have some deficiencies, as follows: 1. The centralized control method lacks robustness and flexibility When the environment changes, the controller needs to re-establish the global control scheme
2. The decentralized control method lacks uniform rules, and each robot cannot obtain the status and information of other robots working together, and collisions may occur, with disastrous consequences
3. The leader-follower control method lacks universality. If the follower robot encounters obstacles, the controller will not make corresponding decisions to maintain the formation

Method used

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  • A real-time fully distributed method for multi-robot system formation
  • A real-time fully distributed method for multi-robot system formation
  • A real-time fully distributed method for multi-robot system formation

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0066] Combined with the symbol content defined in Table 1, the present invention is specifically implemented: a method of real-time fully distributed multi-robot system formation, at least a multi-robot, multi-robot, as follows:

[0067] Step 1) Then perform the next step, otherwise jump out of this algorithm;

[0068] Step 2) Get STOP_P i , And position i [N], and initialize

[0069] Step 3) Robot I judges in the current time K 0 Can I detect static or dynamic obstacles, if there is, add a static obstacle relative position coordinate to Adding a dynamic obstacle relative position coordinate

[0070] Step 4) Robot I broadcast your obstacle collection For other robots to the same group;

[0071] Step 5) Execute the next step, otherwise jump to step 8;

[0072] Step 6) Robot 1 Receive the relative coordinates of virtual obstacles sent by robot J Add Until And M 1 = M 1 +1;

[0073] Step 7) If M 1 = N-1, then And execute the next step, otherwise go to step 6;

[0074]...

Embodiment 2

[0110] On the basis of the above embodiment, the present embodiment will illustrate the formation process as an example of five robots. figure 2 .

[0111] Step 1) Each robot checks whether to reach the target position, ie State, if the False is executed, it is performed, of which i = 1, 2, 3, 4, 5, such as this example i = 1;

[0112] Step 2) Each robot gets its current position, speed, and acceleration of the last position. Your own target location STOP_P i , As well as the relative position of other robots in Position i [n] and initialize

[0113] Step 3) Robot I in Current Time K 0 Detect the surrounding environment to determine the position of the obstacle, and add the relative position of static obstacles to Adding a relative position of a dynamic obstacle to

[0114] Step 4) Robot I broadcast your obstacle collection For other robots J, J = 2, 3, 4, 5;

[0115] Step 5) The robot I judges whether or not the obstacle collection of all robots from the group is received...

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Abstract

The invention belongs to the technical field of robot cooperative control systems, and particularly relates to a real-time fully distributed multi-robot system formation method. The invention detects the surrounding environment in a timely manner, so it does not need to know the overall environment in advance, and overcomes the existence of centralized control. Defects; there is communication between robots in the same group, and the relative coordinate system is used for mathematical planning, and the relative positions of each robot will be absolutely guaranteed to remain unchanged, avoiding collisions between robots; using a distributed method instead of the Leader-Follower method can Ensure that any robot will not be in disorder when encountering obstacles.

Description

Technical field [0001] The present invention belongs to the technical field of robot synergistic control system, and more particularly to a method of real-time fully distributed multi-robot system formation. Background technique [0002] With the continuous development of technology, robots are applied to many areas such as automatic manufacturing, flexible production, search rescue, environmental monitoring, safe and health. However, the single robots have restrictions on information acquisition, processing and control capabilities. For complex work, tasks, and varied work environments, the ability of a single robot is significantly insufficient. Compared with individual robots, multiple robots can coordinate cooperation completion of complex tasks that are difficult to complete, such as environmental supervision, disaster rescue, and mine mapping, etc. [0003] Multi-robot formation is a common collaborative issue in the field of multi-robot system. It has more advantages to mu...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0287G05D2201/0217
Inventor 力上民胡核算张婷婷
Owner XIDIAN UNIV
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