Minimum persistent formation generation and control method of multi-robot system under view constraint
A multi-robot, robot technology, applied in two-dimensional position/channel control, comprehensive factory control, control/regulation system, etc., can solve problems such as constraining the application range of multi-robot formation, increasing the design cost of a single robot, and reducing artificial Design, improve stability and safety, the effect of strong resilience
Active Publication Date: 2021-07-13
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology
In the actual formation control, this kind of method needs to assemble multiple sensors for the robot to ensure the sensing range, which not only increases the design cost of a single robot, but also greatly restricts the application range of multi-robot formation
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[0054] The present invention will be described in detail below with reference to the accompanying drawings and examples.
[0055] The present invention provides a minimum persistent formation generation and control method for a multi-robot system under the constraint of field of view, and its detailed implementation is as follows:
[0056] Step 1. According to the initial position of the robot, a topological relationship satisfying the field of view constraint is generated.
[0057] The specific process is as follows:
[0058] The present invention considers a multi-robot system consisting of n robots moving on a two-dimensional plane. Its dynamic model is considered as a first-order model, namely
[0059]
[0060]
[0061] where q i Indicates the coordinates of robot i on the two-dimensional plane speed; u i is the input speed; ω i is the input angular velocity; θ i is the angle of the visual direction of robot i relative to the x-axis of the world coordinate sy...
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The invention discloses a minimum persistent formation generation and control method of a multi-robot system under view constraint, and relates to the technical field of multi-agent control. The method comprises the steps: generating an interaction topology meeting view constraint through employing a method based on depth search according to the initial positions of robots; allocating neighbors to each robot according to the interactive topology, so that each robot can meet the view constraint , according to the expected formation information, determining the expected distance between agents, and enabling the robot to design a gradient-based controller according to the expected distance and the neighbor state; and on the basis of the controller, converting the view constraint into the state constraint of the robot, and introducing a control barrier function to design the controller with constraint, wherein the controller can enable the system to achieve an expected formation. According to the invention, the state observation topology with the simplest structure can be generated, neighbors cannot be lost due to the constraint of the sensing range in the moving process of the robot, and the stability and safety of the formation are ensured.
Description
technical field [0001] The invention relates to the technical field of multi-agent control, in particular to a method for generating and controlling a minimum persistent formation of a multi-robot system under the constraint of field of view. Background technique [0002] In recent years, due to the wide application of multi-robot formation in scenarios such as collaborative handling, regional exploration in complex environments, and industrial production, research on multi-robot formation control has attracted great attention from academia and industry. In the formation process, the robots need to use sensors to obtain neighbor information, such as position, speed, etc. Today's sensors mounted on robots often have a limited range of perception, such as cameras with a limited field of view. In traditional formation control methods, the field of view constraints of sensors are often ignored, assuming that the sensing range has no dead angle. In the actual formation control ...
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CPCG05D1/0246G05D1/0223G05D1/0214G05D1/0221G05D1/0276Y02P90/02
Inventor 杨庆凯赵欣悦李若成刘奇肖凡方浩辛斌曾宪琳陈杰
Owner BEIJING INSTITUTE OF TECHNOLOGYGY