A multi-robot comprehensive obstacle avoidance method using pilot following method

A technology of following robots and multi-robots, applied in the direction of instruments, two-dimensional position/channel control, control/regulation systems, etc., can solve problems such as no obstacle avoidance strategy, large formation damage, and no consideration of the overall formation. , to achieve the effect of reducing spacing and relative angles and maintaining formation

Active Publication Date: 2022-06-28
NANJING UNIV OF SCI & TECH
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  • Abstract
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AI Technical Summary

Problems solved by technology

In the process of obstacle avoidance, each robot performs its own obstacle avoidance according to its own environment and the force in the artificial potential field, but it does not consider the overall formation and does not have a corresponding obstacle avoidance strategy. formation damage

Method used

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  • A multi-robot comprehensive obstacle avoidance method using pilot following method
  • A multi-robot comprehensive obstacle avoidance method using pilot following method
  • A multi-robot comprehensive obstacle avoidance method using pilot following method

Examples

Experimental program
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Embodiment

[0144] The mobile robot platform adopted in this embodiment is as follows: figure 2 The relevant parameters are shown in Table 1:

[0145] Table 1: Parameters related to mobile robot platform

[0146]

[0147]

[0148] In this embodiment, a pilot robot and two follower robots are used to form a triangular formation. Set the speed of the leading robot to 1m / s and the maximum speed of the follower robot to be 2m / s. The distance between the pilot robot and the follower robot 1 is 1.5m, the relative angle is 135°, the distance between the lead robot and the follower robot 2 is 1.5m, the relative angle is 225°, and the robot is a wheeled robot with a diameter of 30cm. The initial coordinates of the pilot robot are (0.5, 0.5), the coordinates of the target point are (6, 0.6), the initial coordinates of the following robot 1 are (-0.5, 1.5), and the initial coordinates of the following robot 2 are (-0.5, -0.5).

[0149] Three scenarios are set up: (1) Avoid obstacles in an en...

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Abstract

The invention discloses a multi-robot comprehensive obstacle avoidance method adopting the pilot following method, which includes establishing a kinematic model of the pilot following method; introducing the distribution area angle of obstacles, improving the artificial potential field of the pilot robot, and establishing the obstacle avoidance rule of the pilot robot; Improve the gravitational potential field of the follower robot, decompose the various forces of the follower robot in the potential field and establish the relationship between force and distance, force and relative angle, and change the distance and relative angle through the force in the potential field , to establish the obstacle avoidance rule for following the robot. Through the present invention, the robot formation can avoid obstacles smoothly, and can effectively reduce the spacing and relative angle in the process of traveling while being greatly different from the expected value, thereby better maintaining the formation of the formation.

Description

technical field [0001] The invention belongs to obstacle avoidance technology, in particular to a multi-robot comprehensive obstacle avoidance method using a pilot-following method. Background technique [0002] In recent years, with the continuous development of manufacturing technology, robot theory, control theory and network communication technology, robotics technology has become increasingly mature. Compared with humans, robots are being widely used in all walks of life due to their high precision, good stability and long continuous working time. When performing complex tasks, multiple robots can cooperate with each other and have better robustness and execution efficiency than a single robot. Therefore, the research on multi-robots has broad application prospects. Formation, as a basic research in multi-robot collaboration technology, means that multi-robots can maintain the desired spatial formation and satisfy the corresponding environmental constraints. [0003]...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0221
Inventor 单梁周超常路周盛世李军
Owner NANJING UNIV OF SCI & TECH
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