Multi-robot dynamic target tracking cooperative control method
A dynamic target, multi-robot technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as inability to real-time planning, large amount of calculation, etc., to improve speed, improve real-time performance, and reduce calculation. amount of effect
Active Publication Date: 2021-09-24
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology
Even if the traditional greedy algorithm is used, at each moment, by predicting the state of the target at the next moment to seek a local optimal solution, it still faces the problem of huge amount of calculation and cannot plan in real time
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[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0032] The invention discloses a new multi-robot dynamic target tracking cooperative control method, including a dynamic target G and n robots observing the dynamic target G, such as figure 1 shown, including the following steps:
[0033] Step 1, establish a generalized model of the target tracking system of the dynamic target, including the kinematics model of the dynamic target and the observation model of the target tracking system. Judging whether the dyn...
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The invention discloses a multi-robot dynamic target tracking cooperative control method, which comprises the following steps: 1, establishing a target tracking system generalized model of a moving target, including a kinematic model of the moving target and an observation model of a target tracking system; 2, estimating target state information at the current moment by adopting an extended Kalman filtering algorithm according to measurement information of the mobile robot, performing data fusion on target state estimation of a plurality of robots by using a weighted average method, taking the data fusion as optimal estimation of the target state at the current moment, and performing one-step prediction on a dynamic target; 3, on the basis of an approximate greedy algorithm, on the premise that the coverage quality is met, solving the minimum sensing quality; 4, planning a multi-robot moving path at the next moment, and realizing multi-robot cooperative tracking. According to the method, real-time tracking of the dynamic target by multiple robots can be realized, and compared with a traditional algorithm, the method has the advantages that the calculated amount is greatly reduced, and meanwhile, the tracking precision is ensured.
Description
technical field [0001] The invention relates to the technical field of multi-robot control systems, in particular to a multi-robot dynamic target tracking cooperative control method. Background technique [0002] Object tracking technology is an important research direction in the field of robotics. Robot dynamic object tracking technology has a wide range of applications in both the military field and people's daily life. In the military, it can be used for battlefield surveillance, locating, tracking and striking enemy targets when performing interception tasks. Only by accurately obtaining the movement trajectory of the enemy target can the subsequent interception and strike tasks be carried out. In the civilian field, service robots are becoming more and more intelligent, and intelligent mobile robots are appearing in more and more public places to provide services for people, such as intelligent robots in bank halls, etc. The key link of intelligent service robots is t...
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Login to View More IPC IPC(8): G05B13/04B25J9/16
CPCG05B13/042B25J9/1664B25J9/1682
Inventor 于丹王谦
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS