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Coordination control method for group timing arrival of forward wheeled robots

A technology of wheeled robots and robot swarms, applied in two-dimensional position/channel control, control/regulation systems, non-electric variable control, etc., to achieve good robustness

Pending Publication Date: 2022-05-17
周佳玲 +2
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

It is worth noting that the above research can only achieve multiple moving bodies reaching the target position at the same time, and the time-sharing approach to the target position still needs to be solved

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  • Coordination control method for group timing arrival of forward wheeled robots
  • Coordination control method for group timing arrival of forward wheeled robots
  • Coordination control method for group timing arrival of forward wheeled robots

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Embodiment Construction

[0059] The purpose, technical solution, and advantages of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0060] There are few existing control methods on the time-sharing arrival problem, especially wheeled robots, and this type of task is widely used in production and life. Therefore, it is realistic to construct a time-sharing arrival coordination control method for wheeled robots. significance.

[0061] Based on the above considerations, the present invention first establishes the kinematics model of the relative positional relationship between the wheeled robot and the arrival target, and then uses non-smooth control to construct the acceleration component control of the wheeled robot i perpendicular to the line of sight, so that the lead angle can be controlled within a limited time Then, according to the arrival of the robot group to the target and the topological map of the communication network in the gr...

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Abstract

The invention discloses a coordination control method for forward wheeled robots to arrive at a target position in group timing. The coordination control method comprises the following steps: constructing a relative kinematics model of the wheeled robots and the target position; using non-smooth control to construct acceleration component control of the wheeled robot perpendicular to the line-of-sight direction; according to the target arriving condition of the robot group and the communication topology of robot information interaction in the group, each robot selects a scheme based on non-autonomous control or information interaction to determine acceleration component control along the sight line direction; and the acceleration component control along the sight line and in the direction perpendicular to the sight line is converted into the acceleration and angular acceleration control of the wheeled robot. According to the designed control method, the forward wheeled robot group can reach the target location according to the specified arrival sequence, arrival time and arrival interval.

Description

Technical field: [0001] The invention relates to the technical field of multi-agent control, in particular to a coordinated control method for a group of forward-facing wheeled robots to arrive at a target position in time-sharing. Background technique: [0002] Based on the method of information interaction and collaboration to realize the convergence or formation of multi-agent or robot groups, relevant research results have been obtained at home and abroad. With the in-depth development of swarm intelligence technology, people are paying more and more attention to time-sensitive tasks, which take time as a constraint and are difficult to complete through autonomous control. For example, in the batch sorting problem, each raw material needs to arrive at the production workshop in sequence and at a certain time interval; in the traffic problem, vehicles need to pass through narrow bridges in sequence. Due to the limitation of the terminal processing capacity of these tasks...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0219
Inventor 周佳玲刘照辉吕跃祖温广辉
Owner 周佳玲