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Control and obstacle avoidance method for robot cluster

A robot and cluster technology, applied in the field of robotics, can solve problems such as the limited capability of individual robots

Inactive Publication Date: 2019-11-12
XIAN TECH UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, a single robot has limited capabilities in information acquisition, processing, and control. As the complexity of the working environment increases, it is urgent to rely on multi-robot collaboration to improve the system's task execution capabilities and complete more complex tasks.

Method used

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  • Control and obstacle avoidance method for robot cluster
  • Control and obstacle avoidance method for robot cluster
  • Control and obstacle avoidance method for robot cluster

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Embodiment Construction

[0021] 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.

[0022] The present invention uses SLAM technology to obtain the map information of the task area. SLAM technology is a technology for the robot to realize its own positioning, that is, synchronous positioning and map construction. When the robot moves to an unknown space, it estimates the current position by detecting the surrounding environment and at the same time The method to draw the map.

[0023] The two-dimensional grid map con...

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Abstract

The invention relates to a control and obstacle avoidance method for a robot cluster. According to the method, a CVT (Centroidal Voronoi Tessellation) division algorithm, a Lloyd algorithm and a MacQueen algorithm are combined, the method is used for dividing Voronoi units of a target region Q, centroidal tracks of the Voronoi units are taken as expected tracks of robots, and the robots are drivento arrive at centroidal positions through utilization of a consistent algorithm. According to the method provided by the invention, a global map of a task region is obtained through utilization of anSLAM (Simultaneous Localization and Mapping) technology and CVT division is carried out on any region Q on the global map. The number of generation points of Voronoi division is the same as that of the robots. A position error controller is set to control the robots to finish tracking centroids of the corresponding Voronoi units, thereby realizing cluster control. Corresponding density values ofobstacle positions on the global map are reduced according to a division principle of the CVT algorithm, so the centroids of the Voronoi units are guaranteed not to be dived into an obstacle region, expected paths of the robots are guaranteed to avoid the obstacle region, and obstacle avoidance of a multi-robot system is finished.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a method for controlling and avoiding obstacles of a robot cluster. Background technique [0002] With the continuous development of robot-related technologies and the gradual integration of cutting-edge disciplines such as artificial intelligence and bionics, the interactivity and safety of robots are steadily improving, and they are becoming closer and closer to human activities. However, a single robot has limited capabilities in information acquisition, processing, and control. As the complexity of the working environment increases, it is urgent to rely on multi-robot collaboration to improve the system's task execution capabilities and complete more complex tasks. [0003] Multi-robot swarm control mainly develops in two directions. One is that due to the development of hardware technology, a single robot can obtain better positioning perception, motion control a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0276G05D1/0289
Inventor 曹凯陈阳泉张航高嵩陈超波
Owner XIAN TECH UNIV
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