Multi-robot movement control method and device based on quantum learning classifier

Abstract

The embodiment of the invention discloses a multi-robot movement control method and device based on a quantum learning classifier, equipment and a storage medium, and belongs to the technical field of path planning, and the method comprises the steps: firstly a global map is obtained from a map library, a collaborative planning module plans a collision-free safe path from a starting point to a target point, the collaborative planning module synthesizes sensor information of all the robots to generate dynamic local behavior planning of the whole multi-robot system, a behavior control module generates actions according to the behavior planning and feeds back the last planning behavior, the behavior planning is learned and adjusted in time through a learning classifier, then an external environment is continuously detected through a robot sensor, the process is repeatedly executed, collision-free path planning of the multi-robot system in the narrow environment is finally achieved through a learning classifier system, communication among the robots is achieved through broadcast operation of a learning classifier, and the whole layered structure has good real-time performance and dynamic performance.

Description

technical field [0001] The present application relates to the technical field of path planning, and in particular to a multi-robot movement control method, device, equipment and storage medium based on a quantum learning classifier. Background technique [0002] Multi-robots need to face complex task requirements in a narrow environment. The collision avoidance problem of multi-robots during operation is the key issue of research. Avoiding multi-robot collisions is the basis for realizing robot coordination. The more common methods are behavior-based methods. Pilot-following method and virtual structure method, etc., for example: in CN201310402941.3, a multi-mobile robot control system based on following the leader formation is disclosed, including an experimental environment image acquisition module, a host computer positioning module, a car-type mobile robot group, Communication module, control algorithm module. The control algorithm module coordinates and controls the en...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the embodiment of the present application is to propose a multi-robot mobile control method, device, device and storage medium based on a quantum learning classifier to solve the path planning and behavior control of multi-robots in the prior art, which cannot cope with complex environments and The problem of unexpected situations

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