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Scalable cluster particle robot self-organizing cooperative tracking control method

A tracking control and robot technology, applied in the direction of non-electric variable control, control/regulation system, two-dimensional position/channel control, etc., can solve the complex structure of robots, it is difficult to large-scale cluster, it is difficult to eliminate lateral displacement deviation, Return to the expected trajectory and other issues to achieve the effect of reducing the difficulty of control and reducing the amount of calculation

Active Publication Date: 2020-02-04
CENT SOUTH UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] (1) Most swarm robot systems are composed of single robots with autonomous movement capabilities. The robot structure is relatively complicated, and it is difficult to realize large-scale clusters;
[0004] (2) In most cluster robot systems, each robot has an independent identity and needs to exchange information through a specific communication structure. The system is not scalable, and other robots cannot be added in the process of tracking the desired path. ;
[0005] (3) In the process of tracking the expected path, most of the swarm robot systems, if they deviate from the expected path, it is difficult to eliminate the lateral displacement deviation and return to the expected trajectory

Method used

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  • Scalable cluster particle robot self-organizing cooperative tracking control method
  • Scalable cluster particle robot self-organizing cooperative tracking control method
  • Scalable cluster particle robot self-organizing cooperative tracking control method

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Embodiment Construction

[0058] The self-organizing collaborative tracking control method of a scalable cluster particle robot according to the present invention, such as figure 1 As shown, including the following steps:

[0059] Step 1: Initialize the position of each particle robot, the expansion and contraction period T, and the motion control period T c , The number of a group of particle robots n, distance update cycle Preview point update cycle And select a robot as the preview robot, the preview robot needs to store the desired path to be tracked and the coordinates of the desired path start and end points in advance;

[0060] Step 2: Preview the robot to calculate its position (x p ,y p ) The distance from the end point DisToEnd; if DisToEndpre ,y pre ), and broadcast the coordinates of the preview point to the group, and set the initial time of the timer 0 of the preview robot Timer 0 starts timing and continues with the following steps;

[0061] Step 3: Each particle robot calculates the distanc...

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Abstract

The invention discloses a scalable cluster particle robot self-organizing cooperative tracking control method. A preview distance and a preview point are calculated based on a single-point preview theory; a cluster particle robot is driven to track a desired path in a self-organizing manner; and when the cluster robot has a lateral displacement deviation, the cluster robot can return to the desired path. According to the scalable cluster particle robot self-organizing cooperative tracking control method provided by the invention, the numbering of each robot in the group is not required, the robot cluster is not required to maintain a fixed formation, and the communication with a specific individual is not required; therefore, other particle robots can be extended to join the cluster in theprocess of cooperative motion.

Description

Technical field [0001] The invention relates to the field of multi-robot cooperative motion control, in particular to a self-organizing cooperative tracking control method for scalable cluster particle robots. Background technique [0002] Collaborative control of swarm robots is one of the important contents of future unmanned system research. In particular, innovative robot cooperative motion forms and simplified robot structure are of great significance to promote the engineering of multi-robot cooperative motion systems. At present, the collaborative control of cluster robots is still in the research stage, and there are the following problems to be solved: [0003] (1) Most cluster robot systems are composed of single robots with autonomous motion capabilities. The robot structure is relatively complex and it is difficult to achieve large-scale clusters; [0004] (2) In most cluster robot systems, each robot has an independent identity and needs to communicate information throu...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0221
Inventor 余伶俐况宗旭王正久周开军霍淑欣白宇
Owner CENT SOUTH UNIV
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