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Method for automatically synthesizing multi-robot distributed controller from global task

A distributed controller and multi-robot technology, applied in the direction of comprehensive factory control, comprehensive factory control, program control, etc., can solve problems such as difficult to use

Active Publication Date: 2021-01-15
NAT UNIV OF DEFENSE TECH
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Problems solved by technology

However, since the complexity of the synthesis has reached the double exponential level of the formula length, it is difficult to apply the synthesis to the actual software engineering.

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  • Method for automatically synthesizing multi-robot distributed controller from global task
  • Method for automatically synthesizing multi-robot distributed controller from global task
  • Method for automatically synthesizing multi-robot distributed controller from global task

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Embodiment Construction

[0045] The present invention will be further described below in conjunction with the accompanying drawings and specific preferred embodiments, but the protection scope of the present invention is not limited thereby.

[0046] Such as figure 1 As shown, the method for automatically synthesizing a multi-robot distributed controller from a global task of the present invention comprises the following steps:

[0047] S1) Obtain a synthetic multi-robot controller specification, which includes a multi-robot model modeled as a set of robot nodes and a global task described by the GR(1) specification;

[0048] S2) Extract and synthesize the global tasks in the multi-robot controller specification, and synthesize the global strategy A about the global tasks through the GR(1) synthesis algorithm G , according to the preset sensor proposition set Ii and the preset actuator proposition set Oi in each robot node to generate a proposition seti ,O i >, will global policy A G To the proposi...

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Abstract

The invention discloses a method for automatically synthesizing a multi-robot distributed controller from a global task. The method comprises the following steps: acquiring a synthesized multi-robot controller protocol; extracting and synthesizing the global task in the multi-robot controller protocol, synthesizing a global strategy about the global task through a GR(1) comprehensive algorithm, and projecting the global strategy to a proposition set of each robot node to generate a local framework of each robot; respectively calculating to obtain a communication proposition set Ci of each robot, and supplementing propositions on the corresponding local frame migration edge by using the communication proposition set Ci to obtain a local strategy of each robot; and enabling each robot to obtain an available controller according to the local strategy, and using an SAT solver to for solve the available controller to obtain the successor of the robot. According to the invention, the controller and the communication strategy can be automatically and efficiently generated for the robot.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a method for automatically synthesizing multi-robot distributed controllers from global tasks. Background technique [0002] With the rapid development of the "Industry 4.0" revolution, the field of cyber-physical systems (Cyber-Physical Systems, CPS) will undoubtedly be a strategic highland in the future industrial development and transformation, especially unmanned systems, including UAVs (Unmanned Aerial Systems , UAS) and smart cars (Smart Cars) and other artificial intelligence-based CPS. It deeply integrates technologies such as environment perception, data analysis, identity verification and network interconnection. As a highly integrated body of physical systems, heterogeneous networks and information technology, unmanned systems integrate 3C (Computation, Communication, Control) capabilities, real-time perception and feedback control technologies. An unmanned system is an ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/418
CPCG05B19/41875G05B2219/32368Y02P90/02
Inventor 董威李睿陈立前尹良泽陈振邦赵旭东史浩
Owner NAT UNIV OF DEFENSE TECH
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