Multi-time-varying formation tracking control method and system for network heterogeneous robot system

Abstract

The invention provides a multi-time-varying formation tracking control method and system for a network heterogeneous robot system, and the method comprises the following steps: obtaining the movementtracks of a plurality of tracking targets, and determining the position data of the plurality of tracking targets; establishing a kinematic model for the plurality of tracking targets to obtain speeddata and acceleration data of the plurality of tracking targets at each control moment; according to a traditional Lagrange kinetic equation, establishing a kinetic model for the multiple network heterogeneous robots; acquiring a communication topological relation between a plurality of network heterogeneous robots and a plurality of tracking targets, and designing a hierarchical cooperative controller of a network heterogeneous robot system in combination with a kinetic model on the premise of meeting the communication topological relation, thereby realizing multi-time-varying formation tracking control of the network heterogeneous robot system. The technical scheme provided by the invention has the beneficial effects that the control of a plurality of leaders is realized, and a pluralityof tasks are processed at the same time.

Description

technical field [0001] The invention relates to the technical field of distributed artificial intelligence, in particular to a multi-time-varying formation tracking control method and system for a network heterogeneous robot system. Background technique [0002] Multi-agent system is an international frontier research topic in the field of distributed artificial intelligence from the end of the 20th century to the beginning of the 21st century. Its core supporting theory is artificial intelligence, distributed control and distributed computing. In the 21st century, when people are solving large-scale and complex engineering problems, they find that the ability of a single agent is no longer competent, and it is necessary for multiple agents to form a multi-agent system in the form of information communication in a network environment to solve engineering problems collaboratively. Typical multi-agent systems include multi-robot systems, multi-UAV systems, smart grids and dist...

AI Technical Summary

Problems solved by technology

[0003] However, most of the current control methods for networked multi-robot systems are only suitable for single-leader systems, and are limited to the study of non-redundant robots in joint space.

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