An Improved Adaptive Zero-Space Behavior Fusion Method for Multi-robot Formation

Abstract

The invention belongs to the field of mobile robot formation motion planning, and specifically relates to an improved adaptive zero-space behavior fusion method for a multi-robot formation, comprising the following steps: decomposing the formation motion process of robots into three types of motion behaviors: running towards a target point, avoiding Obstacles, formation; determine the execution order of 3 kinds of motion behaviors, and its priority order is to avoid obstacles, rush to the target point, formation; establish the motion model of each behavior; solve the behavior motion model according to the robot motion information; the method of the present invention Based on the traditional zero-space behavior fusion method, a logic-priority obstacle selection strategy between robots is proposed in the obstacle avoidance behavior, which effectively avoids the "overshooting" caused by double selection when two robots are obstacles to each other. The phenomenon of "avoiding the distance" and deviating from the mission route improves the efficiency of multi-robot formation missions, is conducive to the maintenance of formation formations, and has made significant progress in motion planning.

Description

Improved adaptive null-space behavior fusion method for multi-robot formation technical field The invention belongs to the field of mobile robot formation motion planning, and is specifically related to a kind of improved self-assembly of multiple robot formations. Adapting null-space behavioral fusion methods. Background technique [0002] The application of robots has become more and more extensive, and has penetrated into almost every field of scientific development. The low cost, strong robustness, and good task completion of robots make multi-mobile robots attract more and more attention. close In recent years, the coordination problem of multi-mobile robots has become an emerging research hotspot. Robot formation control, which refers to multiple machines In the process of reaching the destination, the robot maintains a certain formation while adapting to environmental constraints (such as the presence of obstacles and empty space). physical constraints, etc....

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Problems solved by technology

[0005] The above method is based on the traditional zero-space behavior fusion method for formation control. In the application, because its gain coefficient is a constant coefficient (with no clear physical meaning), and it is constrained by the robot's motion factors (speed, starting point and end point), it leads to Under working conditions, its values ​​need to be re-selected and debugged, which lacks adaptability and is not conducive to engineering applications

Moreover, when using the traditional zero-space behavior fusion formation control method, because the gain coefficient is a constant in each fixed working condition, the phenomenon of "saturation planning" will occur in the planning process, that is, the planned expected speed is higher than the actual speed of the robot. speed limit (exceeding its maneuverability), mission mis-execution can also occur with this phenomenon

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