A multi-robot cooperative trajectory information processing method using discretization method

Abstract

The invention belongs to the technical field of collaborative control, and discloses a multi-robot collaborative trajectory information processing method using a discretization method. Each robot in the multi-robot system obtains an optimal pre-planned trajectory through the improved D* algorithm before running , the robot predicts the position of the collision point in advance; after finding other robots within the communication range of the robot, the environment is updated in real time through the collaborative control algorithm, and the robot independently judges the replanning of the optimal path from the current position to the target point. The invention combines the ideas of sliding mode control and predictive control, uses the improved D* algorithm as the core algorithm, and proposes a new control algorithm, that is, the Sliding Mode D* algorithm, referred to as SMD*. The method proposed by the invention is real-time online distributed trajectory planning, which overcomes the problems of large calculation amount and local optimal trajectory of multiple time-domain predictive control strategies in the prior art.

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.

Images