Multi-aircraft formation control method and device based on pilot following

Abstract

The invention discloses a multi-machine formation control method and device based on pilot following. The method comprises the following steps: presetting initial relative coordinates between a pilot robot and a following robot; acquiring current coordinates and current speed information of the piloting robot; calculating an expected coordinate, an expected orientation angle and expected speed information of the following robot based on the initial relative coordinate, the current coordinate of the pilot robot and the current speed information; acquiring the current coordinate and the current orientation angle of the following robot; calculating the coordinate deviation of the following robot based on the current coordinate and the expected coordinate of the following robot; based on the current orientation angle and the expected orientation angle of the following robot, the orientation deviation of the following robot is calculated; calculating output speed information of the following robot based on the coordinate deviation, the orientation deviation and the expected speed information of the following robot; and controlling the following robot to move based on the output speed information of the following robot. The method has the advantages of high retentivity and high synchronism.

Description

technical field [0001] The invention relates to the field of robots, in particular to a multi-machine formation control method and device based on pilot following. Background technique [0002] In recent years, robot formations have been widely used in various fields, such as performances, search and rescue, and transportation, because they can coordinate and cooperate with each other to complete tasks that are difficult for a single robot to complete. One of the implementation methods of the robot formation is the pilot following method, that is, the tracking robot moves with the pilot robot and maintains a preset relative distance from the pilot robot. The steps of the existing pilot-following method are generally to calculate the desired state of the following robot through the state of the pilot robot, and then control the following robot according to the error between the actual state and the desired state of the following robot. [0003] In the control algorithm of th...

AI Technical Summary

Problems solved by technology

[0003] In the control algorithm of the existing pilot-following method, the expected orientation of the following robot is consistent with the current orientation of the leading robot by default, but this will lead to the problem that the following robot’s orientation is not conducive to maintaining the formation when the leading robot performs a turning movement

In addition, the existing control algorithm of the pilot-following method has the problem that the following robot can only start to move after an error occurs, which will cause a certain lag when the following robot starts to move

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