Group robot polymerization control method based on three-layer gene regulation and control network

A technology of gene regulation network and swarm robot, which is applied in the direction of two-dimensional position/channel control, etc., to achieve the effect of ensuring the stability of movement

Active Publication Date: 2022-04-26
SHANTOU UNIV
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[0003] The present invention provides an indoor parking lot intelligent management system to solve one or more technical problems existing in the prior art, and at least provide a beneficial choice or create conditions

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  • Group robot polymerization control method based on three-layer gene regulation and control network
  • Group robot polymerization control method based on three-layer gene regulation and control network
  • Group robot polymerization control method based on three-layer gene regulation and control network

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[0042] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0043] It should be noted that although the functional modules are divided in the system schematic diagram and the logical order is shown in the flow chart, in some cases, it can be executed in a different order than the module division in the system or the flow chart steps shown or described. The terms "first", "second" and the like in the specification and claims and the above drawings are used to distinguish similar objects, and not necessarily used to describe a specific sequence or sequence.

[0044] Please refer to figure 1 , figure 1 It is a group robot aggregation control method based on...

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Abstract

The invention discloses a swarm robot aggregation control method based on a three-layer gene regulatory network, which comprises a creation layer, a formation layer and a control layer based on a gene regulatory network model, importing the relative distance from each robot to the target and the relative distance between every two robots, which are acquired by a swarm robot airborne sensor, into a creation layer to obtain a local coordinate system at the current moment; calling the coordinate information of all individuals in the local coordinate system at the previous moment to perform coordinate conversion, and acquiring target coordinate information, obstacle coordinate information and coordinate information of each robot in the local coordinate system at the current moment; the target coordinate information and the obstacle coordinate information are imported into a formation layer, a surrounding form is obtained, and a surrounding control point of each robot is obtained; and the coordinate information and the surrounding control point of each robot are imported into a control layer, and the group robots are guided to move towards the target for surrounding. According to the invention, the self-adaptive hunting of the target in the three-dimensional space with the failure of the global positioning system is realized.

Description

technical field [0001] The invention relates to the technical field of group robot control, in particular to a group robot aggregation control method based on a three-layer gene regulation network. Background technique [0002] The biologically-inspired swarm control model has become one of the research hotspots in the field of swarm robot control in recent years. Currently, for the study of swarm motion control in three-dimensional space, Lwowski J et al. proposed a bird swarm-based UAV swarm control algorithm , only using stereo cameras, global positioning systems and inertial measurement units to realize group drones rounding up targets, the rounding up form formed in the whole process is fixed and cannot adapt to environmental changes; on this basis, Although the gene regulatory network model proposed by Meng et al. can change the round-up form of swarm robots, its application does not cover the adaptive round-up of targets in the three-dimensional space where the GPS fa...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0223G05D1/0287G05D2201/0217Y02P90/02
Inventor 范衠石泽马培立朱贵杰洪峻操黄华兴蔡堉伟董朝晖宁为博郝志峰
Owner SHANTOU UNIV
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