Self-organized cooperative tracking control method for scalable cluster particle robots
A tracking control and robot technology, applied in two-dimensional position/channel control and other directions, can solve problems such as complex robot structure, difficulty in large-scale clustering, difficulty in eliminating lateral displacement deviation, and returning to the expected trajectory, so as to reduce the The effect of controlling the difficulty and reducing the amount of calculation
Active Publication Date: 2021-05-18
CENT SOUTH UNIV
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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
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[0056] A self-organized cooperative tracking control method for scalable cluster particle robots described in the present invention, such as figure 1 shown, including the following steps:
[0057] Step 1: Initialize the position of each particle robot, the expansion and contraction period T, and the motion control period T c , the number n of a group of particle robots, and the distance update period Preview point update cycle And select a robot as the preview robot. The preview robot needs to pre-store the expected path to be tracked and the coordinates of the starting point and end point of the expected path;
[0058] Step 2: The preview robot calculates its own position (x p ,y p ) and 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 timer 0 of the preview robot Timer No. 0 starts timing and continues with the following steps;
[0059] Step 3: Each particle robot calculate...
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The invention discloses an expandable self-organization cooperative tracking control method of cluster particle robots, which calculates the preview distance and preview point based on the single-point preview theory, drives the cluster particle robots to self-organize to track the desired path, and when the cluster robot appears lateral Displacement deviation, can return to the desired path. The self-organized cooperative tracking control method provided by the present invention does not need to number each robot in the group, does not require the robot group to maintain a fixed formation, and does not need to communicate with a specific individual, so it can expand during the cooperative movement Other particle robots join the swarm.
Description
technical field [0001] The invention relates to the field of multi-robot cooperative motion control, in particular to a method for self-organized cooperative tracking control of scalable cluster particle robots. Background technique [0002] The collaborative control of swarm robots is one of the important contents of future research on unmanned systems. In particular, innovating the form of robot collaborative motion and simplifying the robot structure are of great significance to promote the engineering of multi-robot collaborative motion systems. At present, the collaborative control of swarm robots is still in the research stage, and the following problems need to be solved: [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 ...
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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