Stability analysis method of time-varying quantity swarm robot relay target tracking system
A swarm robot, target tracking technology, applied in the field of robotics, can solve problems such as exit, tracking error jump, matrix dimension change, etc.
Active Publication Date: 2021-09-21
BEIJING JIAOTONG UNIV
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Problems solved by technology
However, unlike the traditional swarm robot system with switching topology, in the process of relay tracking, not only the communication topology between robots is switched, but also the tracking robot is replaced, and the tracking error jumps at the moment of relay replacement.
[0005] During the tracking process, the robot may be damaged and withdraw from the tracking, or more robots may be required to join the tracking according to the complexity of the task, which will lead to a change in the number of tracking robots, and correspondingly, the Laplacian matrix of the communication topology of the swarm robots dimension change
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[0115]Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.
[0116] Those skilled in the art will understand that unless otherwise stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the word "comprising" used in the description of the present invention refers to the presence of said features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, Integers, steps, operations, elements, components, and / or groups thereof. It will be understood...
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The invention provides a stability analysis method of a time-varying quantity group robot relay target tracking system. The method includes: using differential equations to establish a tracking control model of a swarm robot relay target tracking system, and establishing a dynamic equation of the target; based on the tracking control model and the target dynamic equation, establishing a time-varying quantity swarm robot relay target tracking system The overall tracking error equation; use topology theory, Lyapunov energy function method and switching theory to establish the asymptotically stable judgment conditions of the overall tracking error equation, and analyze the stability of the swarm robot relay target tracking system according to the judgment conditions. The embodiments of the present invention can perform stability analysis and controller design on the error jump of the relay system caused by the time-varying number of tracking robots, and can be applied to different scenarios.
Description
technical field [0001] The invention relates to the technical field of robots, in particular to a stability analysis method of a time-varying quantity group robot relay target tracking system. Background technique [0002] Group robot cooperative target tracking refers to a group of autonomous mobile robots with sensing and communication functions, which actively perceive the surrounding dynamic environment, interact and coordinate with neighbors (two robots that can communicate are called neighbors) robots, make autonomous decisions and plan movements to adjust to specific targets. The relative position between targets, so as to complete the tracking of a specific target. There is no centralized master control system in the whole system. Each robot is intelligent, collectively called intelligent body, with distributed controllers, capable of autonomous decision-making. [0003] Group robot cooperative target tracking control can be applied to the escort of vehicles / fleets,...
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IPC IPC(8): G05D1/02
CPCG05D1/0276
Inventor 董立静于德银魏丰金邱明富韩冲冲
Owner BEIJING JIAOTONG UNIV