Multi-robot cooperative trajectory information processing method adopting discretization method

Abstract

The invention belongs to the technical field of cooperative control, and discloses a multi-robot cooperative trajectory information processing method adopting a discretization method. The method comprises the following steps that each robot in a multi-robot system obtains an optimal pre-planning trajectory through an improved D* algorithm before running, and the robot predicts a position of a collision point in advance; and after other robots are found in the communication range of the robot, real-time updating of the environment is carried out through a cooperative control algorithm, and therobot automatically judges re-planning of an optimal path of the current position to a target point. According to the method, the thoughts of sliding mode control and prediction control are combined,the core algorithm uses the improved D* algorithm, and a new control algorithm, namely a Sliding Mode D* algorithm, SMD* for short, is provided. The method provided by the invention is real-time on-line distributed trajectory planning, and overcomes the problems of large calculated amount and trajectory local optimization of prediction control strategies in a plurality of time domains in the priorart.

Description

technical field [0001] The invention belongs to the technical field of cooperative control, and in particular relates to a multi-robot cooperative trajectory information processing method using a discretization method. Background technique [0002] At present, the closest existing technology: the birth of robots has brought about earth-shaking changes in the traditional production industry. People have developed mobile robots that can work in various environments, such as unmanned vehicles (Unmanned Ground Vehicle), unmanned Flying aircraft (Unmanned Ariel Vehicle), unmanned submarine vehicle (Unmanned Underwater Vehicle), etc. Mobile robots are not only widely used in industrial production, medical treatment, aerospace, transportation and other fields, but also have important application value in dangerous fields such as radiation, search and arrest, post-disaster rescue and military operations. As the workload increases and the complexity of the job increases, the system'...

AI Technical Summary

Problems solved by technology

[0006] To sum up, the existing problems in the prior art are: in the prior art, the amount of calculation of multiple predictive control strategies in the time domain is large and the trajectory is locally optimal

However, as the number of robots in the system increases and the complexity of operations increases, the system model becomes highly coupled, highly complex, and difficult to solve

At the same time, traditional mathematical programming methods are difficult to solve logical faults, such as deadlock, collision avoidance, etc.

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