Multi-robot anti-interference grouping time-varying formation control method and system
A technology of a robot system and control method, which is applied in the control/regulation system, non-electric variable control, two-dimensional position/channel control, etc., can solve the problem of high requirements for robot communication topology connectivity, few research results, and inability of robot state. Problems such as direct measurement
Active Publication Date: 2020-01-07
UNIV OF SCI & TECH OF CHINA
View PDF10 Cites 14 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0005] The current research on the robot formation problem has the following deficiencies: the existing methods use more centralized control methods, which have great limitations, especially not suitable for a large number of robots; the current multi-robot Most of the formation distributed control algorithms assume that the state of the robot can be obtained through measurement, but in reality, the state of the robot is usually not directly measurable; in the current research results of multi-robot formation, it is generally considered that multiple robots jointly realize the same formation. There are relatively few research results on group formation problems; some of the existing results require high connectivity of the communication topology between robots
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0055] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with specific embodiments and with reference to the accompanying drawings.
[0056] On the one hand, an embodiment of the present invention provides a multi-robot anti-interference grouping time-varying formation control method, see figure 1 , the control method includes:
[0057] Step 101: Obtain a robot system composed of P group robots, and establish a dynamic model of the robot system, where P≥2.
[0058] In group formation control, different groups of robots form different formation forms, and the tasks that need to be completed may also be different. Different subtasks have different requirements on the performance of the robot. For example, in the jungle formation patrol problem, ground mobile robots are needed to monitor the real-time situation on the ground, and unmanned aerial vehicles...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention provides a multi-robot anti-interference grouping time-varying formation control method and system. The method comprises the steps: acquiring a robot system composed of P group robots and establishing a kinetic model of the robot system under the condition that the P is larger than or equal to 2; setting a communication relationship between the robots to obtain a communication topological graph; acquiring an expected formation configuration of the robot system; establishing a state observer and an interference observer of the robot system and acquiring state information and interference information according to the state observer and the interference observer; constructing a time-varying formation controller according to the state information, the interference information andthe expected formation configuration; and controlling the robot system by using the time-varying formation controller so as to realize the expected formation configuration. Therefore, a problem thatthe state information is usually difficult to obtain due to limitation of physical conditions in practical application is solved; and the multi-robot anti-interference grouping time-varying formationcontrol method and system have the great application values.
Description
technical field [0001] The invention relates to the field of multi-robot control, in particular to a multi-robot anti-interference grouping time-varying formation control method and system. Background technique [0002] A multi-robot system refers to a system composed of multiple robots interacting in the same environment. It can respond to changes in the surroundings and efficiently realize self-regulation and complete specified tasks by coordinating the movements of each robot in the system. Compared with a single robot, a multi-robot system can complete tasks that it cannot complete or complete inefficiently, and has the advantages of high efficiency, flexibility, and strong robustness. [0003] Multi-robot formation control is a representative problem in the research field of multi-robot cooperative control. It means that multi-robots can overcome environmental obstacles to perform tasks and maintain the desired geometric formation during group movement, while the forma...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0259G05D1/0223G05D1/0276
Inventor 秦家虎周崇健李曼王帅
Owner UNIV OF SCI & TECH OF CHINA