Multi-robot formation control method based on SLAM technology
A control method and multi-robot technology, applied in the field of robotics, can solve the problem of inflexible formation change and achieve the effect of improving flexibility
Inactive Publication Date: 2019-10-18
XIAN TECHNOLOGICAL UNIV
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[0004] A multi-robot formation control method based on SLAM positioning is designed to solve the problem of inflexible formation transformation in the prior art
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[0019] The present invention will be further described in detail below through specific embodiments in conjunction with the accompanying drawings. Wherein, similar elements in different implementations adopt associated similar element numbers. In the following implementation manners, many details are described for better understanding of the present application. However, those skilled in the art can readily recognize that some of the features can be omitted in different situations, or can be replaced by other elements, materials, and methods.
[0020] The CVT algorithm is to divide the area containing p generation points into p cells, each cell contains a generation point, and the other points in the cell are the closest to the generation point of the cell, so as to ensure the energy function of the system reached the minimum value. On this basis, first assume that k virtual wireless sensors with limited energy are set up in the target area. In order to maximize the service ...
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The invention relates to a multi-robot formation control method based on an SLAM technology. The method includes the following steps of: firstly, constructing a desired target formation by using a CVTalgorithm; and then utilizing a target tracking algorithm to control a robot to achieve the tracking of the corresponding centroid position; and finally, adjusting a density function in the CVT algorithm to change the desired formation in real time. The scheme of the invention combines a centroid Voronoi subdivision algorithm with the target tracking algorithm on the basis that the robot adopts the SLAM technology to acquire a scene map and the own pose and position information, and realizes the multi-robot formation control; that is, the desired formation structure is composed of the centroids of each Voronoi unit divided by the CVT algorithm; a formation controller is designed to control the robot to track the corresponding centroid, so that the multi-robot formation can be achieved; and moreover, by adjusting the density function in the centroid Voronoi algorithm, the desired target formation can be changed in real time, and the flexibility of the formation transformation can be significantly improved.
Description
technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a multi-robot formation control method based on SLAM technology. Background technique [0002] With the continuous development of robot-related technologies, multi-robot systems have attracted widespread attention in the field of intelligent control, and have been applied to various scenarios, such as resource exploration, forest fire monitoring, and post-disaster rescue. As an important branch of multi-intelligent systems, multi-robot formation control requires multi-robots to maintain a certain formation and avoid collisions with each other during the execution of tasks, so as to achieve some common goals. Over the years, a large number of research results have been produced on the problem of multi-robot formation control, and a variety of formation control methods represented by following the leader method, behavior-based control method, virtual structure method and...
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CPCG05D1/0291
Inventor 曹凯陈阳泉张航高嵩陈超波
Owner XIAN TECHNOLOGICAL UNIV