Unlock instant, AI-driven research and patent intelligence for your innovation.

Formation control method based on complex Laplace matrix

A control method and matrix technology, applied in the field of robot formation, can solve the problems of narrow application area and complex topology structure, and achieve the effects of high robustness, strong practicability and simple design.

Active Publication Date: 2021-03-26
ZHEJIANG UNIV OF TECH
View PDF10 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] Aiming at the problem of multiple mobile robots forming a specific formation on a two-dimensional plane, the present invention overcomes the disadvantages of complex topological structures and narrow application areas in the prior art. The present invention provides a multi-mobile robot based on complex Laplacian matrix The formation control method is designed to help the robot formation control to be simpler and more convenient in practical application scenarios

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Formation control method based on complex Laplace matrix
  • Formation control method based on complex Laplace matrix
  • Formation control method based on complex Laplace matrix

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0037] The novel technical solution of the present invention will be further described below in conjunction with accompanying drawings and actual formation cases.

[0038] Aiming at a multi-mobile human system consisting of 6 robots. 6 robots are distributed on a two-dimensional plane, and their coordinates are (5.4701, 3.6848), (2.9632, 6.2562), (7.4469, 7.8023), (3.5784, -0.0631), (1.8896, 0.8113), (1.8351, 7.7571) need composed as figure 1 The regular hexagonal shape formation shown in this shape can be expressed as (0.5000,0.8660), (-0.5000,0.8660), (-1.0000,0.0000), (-0.5000,-0.8660), ( 0.5000,-0.8660), (1.0000,0.0000), deduce the algorithm process for this case:

[0039] Step 1, build a motion model

[0040] Firstly, a global coordinate system is established for the robot's activity space. For the robot's activity space, establish x-y Cartesian coordinates. For each robot, its coordinates (x, y) in this space can be marked, and complex numbers (x+yj) are used to rep...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a formation control method based on a complex Laplace matrix. The method comprises the following steps: 1) establishing a multi-mobile robot motion model in a complex plane; 2)establishing a communication network of the multi-robot system and a topological graph corresponding to network communication; 3) constructing a real Laplace matrix corresponding to the communicationnetwork topology; 4) configuring the weight of the complex Laplace matrix according to the formation demand and the real Laplace matrix; and 5) designing and calculating a distributed discrete control signal. According to the method, an engineer can quickly design a robot formation network framework to enable the robots to form a specified formation, the method is distributed, the utilized information is only the information of the robots and the measurable information of the adjacent robots, the design is simple and convenient, the practicability is high, and a feasible scheme is provided for efficient formation of multiple mobile robots.

Description

technical field [0001] The present invention relates to the technical field of multi-mobile robot formation control, specifically, a method of using complex-based network control communication protocols to gather robots to form a formation, thereby realizing robot formation. Background technique [0002] With the continuous improvement of manufacturing technology at the industrial level in our country, the manufacturing costs of various mini sensors, such as radars, visual cameras and various ultrasonic sensors, have been continuously reduced. Robots with mobile bases with simple structures but diverse functions have gradually become the most popular products in recent years. Year's robot main force. Especially at the moment when the cost of human resources continues to rise in our country and the industry is upgrading and transforming, it is necessary to replace part of the human labor with robots. This situation is particularly prominent in the fields of warehousing, expr...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0221G05D1/0289G05D1/0276
Inventor 邹超禹鑫燚欧林林黄睿徐靖陈磊
Owner ZHEJIANG UNIV OF TECH