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A cluster control method and system for multiple mobile robots

A mobile robot, control method technology, applied in general control system, control/regulation system, adaptive control and other directions, can solve the problem of limited driving capacity, difficulty in applying swarm control method to robot experimental device, difficult to meet steering speed and linear speed, etc. problem, to achieve the effect of fast search speed, suitable for application promotion, and avoid mutual collision

Active Publication Date: 2022-04-08
UNIV OF JINAN
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0011] The inventor found during the research and development process that the above-mentioned technical solutions generally describe the kinematics model of the system with second-order differential equations, and the obtained cluster control method is difficult to apply to the experimental device of the robot
In addition, since mobile robots are mostly wheel-driven, their driving capabilities are limited, and their steering speed and linear speed are difficult to meet the requirements of the control law proposed in theoretical research.

Method used

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  • A cluster control method and system for multiple mobile robots
  • A cluster control method and system for multiple mobile robots
  • A cluster control method and system for multiple mobile robots

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Embodiment 1

[0048] figure 1 It is the swarm control method of multiple mobile robots involved in this embodiment. Please refer to the attached figure 1 , the method includes the following steps:

[0049] S101. Obtain the current positions of all mobile robots, and construct an evaluation function of each mobile robot cluster state.

[0050] Specifically, the current position of the mobile robot is r i =[x i ,y i ] T ,i=1,2,…,n, where n is the total number of mobile robots participating in swarm control, x i and y i are the position coordinates of the mobile robot in the two-dimensional plane space coordinate system.

[0051] For the i-th mobile robot, construct the evaluation function V of its cluster state i . The specific construction method of the evaluation function of the i-th robot cluster state is:

[0052] The relative position between two adjacent mobile robots (i-th and j-th) can be expressed as r ij = r i -r j , the relative distance is ||r ij ||(|| || is a 2-type ...

Embodiment 2

[0107] This embodiment provides a cluster control system of multiple mobile robots, the system comprising:

[0108] The robot position acquisition module is used to obtain the current positions of all mobile robots, and constructs the evaluation function of each mobile robot cluster state;

[0109] The initialization module is used to initialize the parameters of the simulated annealing algorithm;

[0110] An optimal expected position search module is used to search for the optimal expected position of each mobile robot using a simulated annealing algorithm;

[0111] The motion control module is used to calculate the expected motion direction and speed of each mobile robot according to the optimal expected position of each mobile robot.

[0112] Specifically, the method for constructing the evaluation function of the mobile robot cluster state by the robot position acquisition module is:

[0113] According to the current position of any two adjacent mobile robots, calculate ...

Embodiment 3

[0138] This embodiment provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the following steps are implemented:

[0139] Obtain the current positions of all mobile robots and construct an evaluation function for each mobile robot cluster state;

[0140] Initialize the simulated annealing algorithm parameters;

[0141] Use the simulated annealing algorithm to search for the optimal desired position of each mobile robot;

[0142] According to the optimal expected position of each mobile robot, the expected motion direction and speed of each mobile robot are calculated.

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Abstract

The invention discloses a method and system for cluster control of multiple mobile robots. Using the designed evaluation function of the cluster state, the cluster control problem is transformed into an optimization and solution problem for individual robots. The method can realize the autonomous formation of a cluster state by mobile robots , the method includes the following steps: obtaining the current positions of all mobile robots, constructing the evaluation function of each mobile robot cluster state; initializing the parameters of the simulated annealing algorithm; using the simulated annealing algorithm to search for the optimal expected position of each mobile robot; according to each The optimal desired position of the mobile robot, and the desired motion direction and velocity of each mobile robot are calculated.

Description

technical field [0001] The invention relates to the technical field of mobile robot control, in particular to a multi-mobile robot cluster control method and system based on a simulated annealing algorithm. Background technique [0002] The problem of swarm control has always been an important research direction of multi-robot control. With the continuous deepening of robot research and the continuous expansion of military, security, industrial production and other application fields, as one of the important foundations and research directions of multi-robot cooperation and coordination, the realization of multi-robot swarm control problems has become more and more important. . [0003] In 1987, Craig Reynolds made a computer model of the coordinated movement of animals imitating fish and birds - the Boid cluster model. The movement of individuals in the Boid cluster model needs to follow the following three simple behavior rules: [0004] (1) Separation: Each member avoi...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 程金徐元赵钦君王中华
Owner UNIV OF JINAN
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