A shared autonomous formation planning control method for single-master multi-slave remote operation mode

Abstract

The invention relates to a shared autonomous formation planning control method for a single-master multi-slave remote operation mode, and belongs to the field of remote operation human-computer interaction. Using the method based on passive decomposition, the robot dynamics model is decomposed into three parts without introducing additional energy: 1) the controlled system, which represents the overall behavior of the slave multi-robot; 2) the configuration preserving system, which represents the The position of each robot at the slave end; 3) the coupling part of the controlled system and the configuration maintaining system. By separately controlling the controlled system and forming the holding system, only the position and velocity information of each robot at the slave end is needed, and the joint angular acceleration information of the robot is not needed, which simplifies the design of the controller and is more practical.

Description

technical field [0001] The invention belongs to the field of remote operation human-computer interaction, and particularly relates to a multi-slave formation planning control method in a single-master multi-slave remote operation mode. Background technique [0002] The traditional single-master single-slave remote operation mode has been difficult to adapt to the complex and changeable operation environment, and with the emergence of new operation scenarios and tasks, it is more and more difficult to use only one robot on the slave side to complete the operation tasks. At present, a single-master and multi-slave remote operation mode with multiple robots has emerged at the slave end. Compared with the single-master and single-slave mode, it can provide stronger robustness and realize human-computer interaction tasks in complex scenarios. , such as UAV formation flying, patrolling, underwater vehicle obstacle avoidance, collaborative operation of multi-space robots under deep...

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Problems solved by technology

[0005] In order to solve the problems of large amount of calculation and low control precision of existing control methods, the present invention aims at the problems of cooperative operation of master and slave robots and maintenance of multi-slave configuration, and proposes a passive decomposition based single In the master-slave layered control mode, the multi-robots are decomposed into the controlled system and the configuration maintaining system, as well as the coupling part that can be compensated, so that the kinetic energy of the overall system is guaranteed for the controlled system and the configuration maintaining system. The sum of automatic energy, the multi-robots at the slave end can not only maintain a certain configuration, but also follow the controlled and controlled system, and realize the operation requirements of master-slave coordination

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