Mobile robot system distributed control method and device based on quantitative information

Abstract

The invention relates to the technical field of robot control, and particularly provides a mobile robot system distributed control method and device based on quantitative information. The method comprises the following steps: acquiring discrete moment position information and speed information of each mobile robot, and detecting discrete moment position information and speed information of a neighbor robot; the method comprises the following steps: constructing a communication topological structure according to the directivity and accessibility of a communication link between mobile robots, defining an adjacent weight matrix with symbols according to a friendly or hostile interaction relationship between the mobile robots, and defining a Laplacian matrix corresponding to a symbol graph; performing quantification processing on the position information and the speed information; according to a quantization error compensation mechanism, symbol weights are combined, control quantities are generated, the state of the mobile robot at the next moment is updated through a discrete kinematics model, distributed coordination control over a system of the mobile robot is achieved through quantization information, and consistency tends to be achieved under the antagonism effect.

Description

Technical Field

[0001] The present invention relates to the field of robot control technology, and in particular to a distributed control method and device for a mobile robot system based on quantitative information. Background Art

[0002] A mobile robot system is composed of multiple mobile robots that can complete tasks that are difficult for a single robot to complete. Compared with a single robot, a mobile robot system has significant advantages in terms of technical performance, task adaptability, and system effectiveness. In addition, the efficiency of mobile robots in the operation process can be greatly improved through the collaboration between multiple mobile robots. In a mobile robot system, it is crucial to perceive and understand the information around the robot in real time for complex dynamic environments. However, the communication limitations and topological complexity between robots in practical applications have brought many challenges. For example, during the communication process, due to bandwidth limitations or privacy protection, the state information between individual robots often needs to be quantized before it can be transmitted in the network. The introduction of quantized information reduces the communication overhead while inevitably introducing quantization errors, which may affect the convergence performance of the system. The characteristics of antagonism require the design of a control algorithm that adapts to positive and negative connections to ensure that the mobile robot system can achieve consistency or split stability under antagonism. The core of the consistency problem is to ensure that the states of all mobile robots gradually converge under antagonism constraints, and this goal becomes particularly complex in scenarios where communication is limited and quantization errors exist. Summary of the invention

[0003] In view of this, the present invention provides a distributed control method and device for a mobile robot system based on quantitative information, so as to realize distributed coordinated control of the mobile robot system, which can tend to consistency under antagonistic effects.

[0004] In a first aspect, the present invention provides a distributed control method for a mobile robot system based on quantitative information, the method comprising: Step 1: Build a communication topology; Step 2: Define the adjacency weight matrix and Laplace matrix according to the communication topology; Step 3: Generate distributed control quantity through the adjacency weight matrix and Laplace matrix; Step 4: Based on the distributed control quantity, iteratively update the state of the mobile robot.

[0005] Optionally, step 1 includes: Obtain the discrete moment position information of each mobile robot in real time through the sensor network and speed information , and detect the discrete moment location information of its neighboring robots and speed information ; Construct a communication topology structure based on the directionality and accessibility of the communication links between mobile robots.

[0006] Optionally, the step 2 includes: Define a signed adjacency weight matrix based on friendly or hostile interactions between mobile robots ,in, Represents a mobile robot and There is a friendly and cooperative relationship; Represents a mobile robot and There is a hostile competitive relationship; Represents a mobile robot Unable to directly receive mobile robots The Laplace matrix corresponding to the symbolic graph is defined as ,in, .

[0007] Optionally, step 3 includes: The position information and speed information are quantified to obtain and ; According to the quantization error compensation mechanism, combined with the symbol weight , generating control quantity , whose expression is: ; in, and For mobile robots At discrete moments position and velocity; and For mobile robots Neighbor Robot At discrete moments position and velocity; For mobile robots At discrete moments The amount of control; The adjacency weight matrix of the multi-mobile robot system is represented by Line and Section Elements of a column; , It is the preset control gain coefficient, which is used to adjust the position and speed convergence rate; Represents a quantization operation.

[0008] Optionally, step 4 includes: The next moment state of the mobile robot is updated through the discrete kinematics model according to the mobile robot at the discrete moment The control amount is obtained A mobile robot at discrete moments Location information and speed information , whose expression is: ; in, For mobile robots No. The location at the moment, For mobile robots No. The speed of time, Individual mobile robots At discrete moments of control.

[0009] Optionally, the communication topology connectivity is refined to satisfy: a. Determine strong connectivity: any two mobile robots can exchange information; b. Weight sign rule: Friendly relationships correspond to positive weights , hostile relations correspond to negative weights , when no connection .

[0010] Optionally, the quantizing the position information and the speed information includes: Assumptions is the data to be quantized; due to bandwidth limitations, if the length is bits of quantized data, then there will be quantization points, so the quantization interval is ; Then, the data is analyzed in the following probabilistic way To quantify: ; , .

[0011] Optionally include: The control amount is determined according to the position of each mobile robot, the position of the neighboring robot, the communication topology between multiple mobile robots, the adjacency weight matrix, the Laplace matrix, and the quantization interval The control amount If bisection consistency convergence is achieved, the convergence condition is satisfied: h, Laplace matrix The real parts of the eigenvalues ​​of are all greater than zero, and there is a balanced subspace; i. Control gain coefficient , satisfy and ,in is the Laplace matrix The minimum eigenvalue of ; j. The weight distribution of the hostile relationship between mobile robots makes the system eventually split into two subgroups, satisfying or ,in is a constant, and the speed is synchronized to zero or a mirror-symmetric value.

[0012] In a second aspect, the present invention provides a mobile robot system distributed control device based on quantitative information, the device is used to implement the mobile robot system distributed control method based on quantitative information in the first aspect or any possible implementation of the first aspect, the device comprising: Building blocks for constructing communication topology: obtaining the discrete moment position information of each mobile robot in real time through the sensor network and speed information , and detect the discrete moment location information of its neighboring robots and speed information ;Build the communication topology according to the directionality and accessibility of the communication links between mobile robots; Definition module for defining the adjacency weight matrix and Laplacian matrix according to the communication topology: Define the signed adjacency weight matrix according to the friendly or hostile interaction relationship between mobile robots ,in, Represents a mobile robot and There is a friendly and cooperative relationship; Represents a mobile robot and There is a hostile competitive relationship; Represents a mobile robot Unable to directly receive mobile robots The Laplace matrix corresponding to the symbolic graph is defined as ,in, ; The generation module is used to generate distributed control quantities through the adjacency weight matrix and the Laplace matrix: the position information and speed information are quantized to obtain and ; According to the quantization error compensation mechanism, combined with the symbol weight , generating control quantity , whose expression is: ; in, and For mobile robots At discrete moments position and velocity; and For mobile robots Neighbor Robot At discrete moments position and velocity; For mobile robots At discrete moments The amount of control; The adjacency weight matrix of the multi-mobile robot system is represented by Line and Section Elements of a column; , It is the preset control gain coefficient, which is used to adjust the position and speed convergence rate; Represents a quantized operation; The update module is used to iteratively update the state of the mobile robot based on the distributed control quantity: the state of the mobile robot at the next moment is updated through the discrete kinematic model, and the state of the mobile robot at the next moment is updated according to the state of the mobile robot at the discrete moment. The control amount is obtained A mobile robot at discrete moments Location information and speed information , whose expression is: ; in, For mobile robots No. The location at the moment, For mobile robots No. The speed of time, Individual mobile robots At discrete moments of control.

[0013] In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute the distributed control method of a mobile robot system based on quantitative information in the first aspect or any possible implementation of the first aspect.

[0014] In a fourth aspect, an embodiment of the present invention provides an electronic device, comprising: one or more processors; a memory; and one or more computer programs, wherein the one or more computer programs are stored in the memory, and the one or more computer programs include instructions, which, when executed by the device, enable the device to execute the distributed control method for a mobile robot system based on quantitative information in the first aspect or any possible implementation of the first aspect.

[0015] In the technical solution provided by the present invention, the method includes constructing a communication topology structure; defining an adjacency weight matrix and a Laplace matrix according to the communication topology structure; generating a distributed control quantity through the adjacency weight matrix and the Laplace matrix; and iteratively updating the state of the mobile robot based on the distributed control quantity. The method realizes distributed coordinated control of the mobile robot system through quantified information, and can tend to consistency under antagonistic effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 A flow chart of a distributed control method for a mobile robot system based on quantitative information provided by an embodiment of the present invention; Figure 2 A schematic diagram of a mobile robot system provided by an embodiment of the present invention; Figure 3 A schematic diagram of a distributed control device for a mobile robot system based on quantitative information provided by an embodiment of the present invention; Figure 4 A simulation schematic diagram of a mobile robot system provided by an embodiment of the present invention; Figure 5 Another simulation schematic diagram of a mobile robot system provided by an embodiment of the present invention; Figure 6 A schematic diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] It should be clear that the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms "a", "said" and "the" used in the embodiments of the present invention are also intended to include plural forms, unless the context clearly indicates other meanings.

[0021] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0022] The word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0023] Figure 1 A flow chart of a distributed control method for a mobile robot system based on quantitative information provided by an embodiment of the present invention, such as Figure 1 As shown, the method includes: Step 1: Build a communication topology.

[0024] In the embodiment of the present invention, the discrete moment position information of each mobile robot is obtained in real time through the sensor network. and speed information , and detect the discrete moment location information of its neighboring robots and speed information ; Construct a communication topology structure based on the directionality and accessibility of the communication links between mobile robots.

[0025] In the embodiment of the present invention, the communication topology connectivity is refined to meet the following requirements: a. Determine strong connectivity: any two mobile robots can exchange information; b. Weight sign rule: Friendly relationships correspond to positive weights , hostile relations correspond to negative weights , when no connection .

[0026] In the embodiment of the present invention, the neighbor robot refers to the set of all other mobile robots that have information flowing to the mobile robot. Figure 2 The figure shows a signed undirected graph, where mobile robots 2, 3, and 5 are neighbors of mobile robot 1, and mobile robots 1 and 5 are neighbors of mobile robot 2. Mobile robots 1 and 2 are not neighbors of mobile robot 4. Specifically, the current position and speed information of the mobile robot and its neighboring robots can be obtained through the sensor device installed on the mobile robot.

[0027] Step 2: Define the adjacency weight matrix and Laplace matrix according to the communication topology.

[0028] In the embodiment of the present invention, according to the friendly or hostile interaction relationship between the mobile robots, a signed adjacency weight matrix is ​​defined: ,in, Represents a mobile robot and There is a friendly and cooperative relationship; Represents a mobile robot and There is a hostile competitive relationship; Represents a mobile robot Unable to directly receive mobile robots The Laplace matrix corresponding to the symbolic graph is defined as ,in, .

[0029] Step 3: Generate distributed control quantity through the adjacency weight matrix and Laplace matrix.

[0030] In the embodiment of the present invention, the position information and the speed information are quantized to obtain and ; According to the quantization error compensation mechanism, combined with the symbol weight , generating control quantity , whose expression is: ; in, and For mobile robots At discrete moments position and velocity; and For mobile robots Neighbor Robot At discrete moments position and velocity; For mobile robots At discrete moments The amount of control; The adjacency weight matrix of the multi-mobile robot system is represented by Line and Section Elements of a column; , It is the preset control gain coefficient, which is used to adjust the position and speed convergence rate; Represents a quantization operation.

[0031] In the embodiment of the present invention, the quantization processing of the position information and the speed information in step 3 includes: Assumptions is the data to be quantized; due to bandwidth limitations, if the length is bits of quantized data, then there will be quantization points, so the quantization interval is ; Then, the data is analyzed in the following probabilistic way To quantify: ; , .

[0032] In the embodiment of the present invention, in step 3, the control amount is determined according to the position of each mobile robot, the position of the neighboring robot, the communication topology between multiple mobile robots, the adjacency weight matrix, the Laplace matrix and the quantization interval. ; Control quantity If bisection consistency convergence is achieved, the convergence condition is satisfied: h, Laplace matrix The real parts of the eigenvalues ​​of are all greater than zero, and there is a balanced subspace; i. Control gain coefficient , satisfy and ,in is the Laplace matrix The minimum eigenvalue of ; j. The weight distribution of the hostile relationship between mobile robots makes the system eventually split into two subgroups, satisfying or ,in is a constant, and the speed is synchronized to zero or a mirror-symmetric value.

[0033] Step 4: Based on the distributed control quantity, iteratively update the state of the mobile robot.

[0034] In the embodiment of the present invention, the state of the mobile robot at the next moment is updated by a discrete kinematic model, according to the state of the mobile robot at the discrete moment The control amount is obtained A mobile robot at discrete moments Location information and speed information , whose expression is: ; in, For mobile robots No. The location at the moment, For mobile robots No. The speed of time, Individual mobile robots At discrete moments of control.

[0035] Figure 3 A schematic diagram of a distributed control device for a mobile robot system based on quantitative information provided by an embodiment of the present invention, such as Figure 3 As shown, the device comprises: A construction module, a definition module, a generation module and an update module; the construction module is connected with the definition module and the generation module; the generation module is connected with the update module; Building blocks for constructing communication topology: obtaining the discrete moment position information of each mobile robot in real time through the sensor network and speed information , and detect the discrete moment location information of its neighboring robots and speed information ;Build the communication topology according to the directionality and accessibility of the communication links between mobile robots; Definition module for defining the adjacency weight matrix and Laplacian matrix according to the communication topology: Define the signed adjacency weight matrix according to the friendly or hostile interaction relationship between mobile robots ,in, Represents a mobile robot and There is a friendly and cooperative relationship; Represents a mobile robot and There is a hostile competitive relationship; Represents a mobile robot Unable to directly receive mobile robots The Laplace matrix corresponding to the symbolic graph is defined as ,in, ; The generation module is used to generate distributed control quantities through the adjacency weight matrix and the Laplace matrix: the position information and speed information are quantized to obtain and ; According to the quantization error compensation mechanism, combined with the symbol weight , generating control quantity , whose expression is: ; in, and For mobile robots At discrete moments position and velocity; and For mobile robots Neighbor Robot At discrete moments position and velocity; For mobile robots At discrete moments The amount of control; The adjacency weight matrix of the multi-mobile robot system is represented by Line and Section Elements of a column; , It is the preset control gain coefficient, which is used to adjust the position and speed convergence rate; Represents a quantized operation; The update module is used to iteratively update the state of the mobile robot based on the distributed control quantity: the state of the mobile robot at the next moment is updated through the discrete kinematic model, and the state of the mobile robot at the next moment is updated according to the state of the mobile robot at the discrete moment. The control amount is obtained A mobile robot at discrete moments Location information and speed information , whose expression is: ; in, For mobile robots No. The location at the moment, For mobile robots No. The speed of time, Individual mobile robots At discrete moments of control.

[0036] In the embodiment of the present invention, Figure 4 and Figure 5 It can be seen that mobile robots 1 and 2 converge to the same value, and mobile robots 3, 4, and 5 converge to the same value. This is because the relationship between mobile robots 1 and 2 and mobile robots 3, 4, and 5 is hostile, while the relationship between mobile robots 1 and 2 is friendly, and the relationship between mobile robots 3, 4, and 5 is friendly. The speed convergence values ​​of these two groups of robots tend to -0.1996 and 0.1996 respectively.

[0037] The present invention obtains the position and speed information of each mobile robot, the position and speed information of the neighboring robots of each mobile robot, determines the communication topology structure among the multiple mobile robots; determines the adjacency weight matrix and the Laplace matrix according to whether the relationship among the multiple mobile robots is friendly or hostile; determines the control amount of each mobile robot according to the position and speed information of each mobile robot, the position and speed information of the neighboring robots, the communication topology structure among the multiple mobile robots, the adjacency weight matrix, the Laplace matrix and the quantization interval; and subsequently controls each mobile robot according to the control amount of each mobile robot. The present invention obtains the position and speed information of each mobile robot and the neighboring robots and designs the control protocol accordingly, so as to ensure that the multi-mobile robot system realizes binary consistency and has high control accuracy, and the communication topology connection mode of the system reduces the amount of information to be processed, is conducive to realizing rapid decision-making and real-time control, and improves the efficiency of system operation.

[0038] In the technical solution provided by the present invention, the method includes obtaining the discrete moment position information and speed information of each mobile robot in real time through a sensor network, and detecting the discrete moment position information and speed information of its neighboring robots; constructing a communication topology structure according to the directionality and accessibility of the communication link between the mobile robots, defining a signed adjacency weight matrix according to the friendly or hostile interaction relationship between the mobile robots, and defining a Laplace matrix corresponding to the signed graph; quantizing the position information and speed information; generating a control quantity according to a quantization error compensation mechanism and in combination with the signed weight, updating the state of the mobile robot at the next moment through a discrete kinematic model, and updating the state of the mobile robot at the next moment according to the mobile robot at the discrete moment. The control amount is obtained A mobile robot at discrete moments This method realizes the distributed coordinated control of the mobile robot system by quantifying the position information and speed information, and can tend to consistency under antagonistic effects.

[0039] Each step of the embodiment of the present invention may be performed by an electronic device, which includes but is not limited to a mobile phone, a tablet computer, a portable PC, a desktop computer, etc.

[0040] An embodiment of the present invention provides a computer-readable storage medium, which includes a stored program, wherein when the program is running, the electronic device where the computer-readable storage medium is located is controlled to execute the above-mentioned embodiment of the distributed control method of the mobile robot system based on quantitative information.

[0041] Figure 6 A schematic diagram of an electronic device provided by an embodiment of the present invention, such as Figure 6 As shown, the electronic device 21 includes: a processor 211, a memory 212, and a computer program 213 stored in the memory 212 and executable on the processor 211. When the computer program 213 is executed by the processor 211, the distributed control method of the mobile robot system based on quantitative information in the embodiment is implemented. To avoid repetition, they are not described one by one here.

[0042] The electronic device 21 includes, but is not limited to, a processor 211 and a memory 212. Those skilled in the art will appreciate that Figure 6 It is only an example of the electronic device 21 and does not constitute a limitation of the electronic device 21. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the electronic device may also include input and output devices, network access devices, buses, etc.

[0043] The processor 211 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0044] The memory 212 may be an internal storage unit of the electronic device 21, such as a hard disk or memory of the electronic device 21. The memory 212 may also be an external storage device of the electronic device 21, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card (FlashCard), etc. equipped on the electronic device 21. Further, the memory 212 may also include both an internal storage unit of the electronic device 21 and an external storage device. The memory 212 is used to store computer programs and other programs and data required by network devices. The memory 212 may also be used to temporarily store data that has been output or is to be output.

[0045] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0046] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A distributed control method for a mobile robot system based on quantitative information, characterized in that: The method comprises: Step 1: Build a communication topology; Step 2: Define the adjacency weight matrix and Laplace matrix according to the communication topology; Step 3: Generate distributed control quantity through the adjacency weight matrix and Laplace matrix; Step 4: Based on the distributed control quantity, iteratively update the state of the mobile robot.

2. The method according to claim 1, characterized in that The step 1 comprises: Obtain the discrete moment position information of each mobile robot in real time through the sensor network and speed information , and detect the discrete moment location information of its neighboring robots and speed information ; Construct a communication topology structure based on the directionality and accessibility of the communication links between mobile robots.

3. The method according to claim 1, characterized in that The step 2 comprises: Define a signed adjacency weight matrix based on friendly or hostile interactions between mobile robots ,in, Represents a mobile robot and There is a friendly and cooperative relationship; Represents a mobile robot and There is a hostile competitive relationship; Represents a mobile robot Unable to directly receive mobile robots The Laplace matrix corresponding to the symbolic graph is defined as ,in, .

4. The method according to claim 1, characterized in that: The step 3 comprises: The position information and speed information are quantified to obtain and ; According to the quantization error compensation mechanism, combined with the symbol weight , generating control quantity , whose expression is: ； in, and For mobile robots At discrete moments position and velocity; and For mobile robots Neighbor Robot At discrete moments position and velocity; For mobile robots At discrete moments The amount of control; The adjacency weight matrix of the multi-mobile robot system is represented by Line and Section Elements of a column; , It is the preset control gain coefficient, which is used to adjust the position and speed convergence rate; Represents a quantization operation.

5. The method according to claim 1, characterized in that The step 4 comprises: The next moment state of the mobile robot is updated through the discrete kinematics model according to the mobile robot at the discrete moment The control amount is obtained A mobile robot at discrete moments Location information and speed information , whose expression is: ； in, For mobile robots No. The location at the moment, For mobile robots No. The speed of time, Individual mobile robots At discrete moments of control.

6. The method according to claim 2, characterized in that The communication topology connectivity is refined to meet the following requirements: a. Determine strong connectivity: any two mobile robots can exchange information; b. Weight sign rule: Friendly relationships correspond to positive weights , hostile relations correspond to negative weights , when no connection .

7. The method according to claim 4, characterized in that The quantization processing of the position information and the speed information includes: Assumptions is the data to be quantized; due to bandwidth limitations, if the length is bits of quantized data, then there will be quantization points, so the quantization interval is ; Then, the data is analyzed in the following probabilistic way To quantify: ； ， 。 8. The method according to claim 4, characterized in that include: The control amount is determined according to the position of each mobile robot, the position of the neighboring robot, the communication topology between multiple mobile robots, the adjacency weight matrix, the Laplace matrix, and the quantization interval The control amount If bisection consistency convergence is achieved, the convergence condition is satisfied: h, Laplace matrix The real parts of the eigenvalues ​​of are all greater than zero, and there is a balanced subspace; i. Control gain coefficient , satisfy and ,in is the Laplace matrix The minimum eigenvalue of ; j. The weight distribution of the hostile relationship between mobile robots eventually splits the system into two subgroups, satisfying or ,in is a constant, and the speed is synchronized to zero or a mirror-symmetric value.

9. A distributed control device for a mobile robot system based on quantitative information, characterized in that: The device is used to implement the distributed control method of a mobile robot system based on quantitative information according to any one of claims 1 to 8, and the device comprises: Building blocks for constructing communication topology: obtaining the discrete moment position information of each mobile robot in real time through the sensor network and speed information , and detect the discrete moment location information of its neighboring robots and speed information ;Build the communication topology according to the directionality and accessibility of the communication links between mobile robots; Definition module for defining the adjacency weight matrix and Laplacian matrix according to the communication topology: Define the signed adjacency weight matrix according to the friendly or hostile interaction relationship between mobile robots ,in, Represents a mobile robot and There is a friendly and cooperative relationship; Represents a mobile robot and There is a hostile competitive relationship; Represents a mobile robot Unable to directly receive mobile robots The Laplace matrix corresponding to the symbolic graph is defined as ,in, ; The generation module is used to generate distributed control quantities through the adjacency weight matrix and the Laplace matrix: the position information and speed information are quantized to obtain and ; According to the quantization error compensation mechanism, combined with the symbol weight , generating control quantity , whose expression is: ； in, and For mobile robots At discrete moments position and velocity; and For mobile robots Neighbor Robot At discrete moments position and velocity; For mobile robots At discrete moments The amount of control; The adjacency weight matrix of the multi-mobile robot system is represented by Line and Section Elements of a column; , It is the preset control gain coefficient, which is used to adjust the position and speed convergence rate; Represents a quantized operation; The update module is used to iteratively update the state of the mobile robot based on the distributed control quantity: the state of the mobile robot at the next moment is updated through the discrete kinematic model, and the state of the mobile robot at the next moment is updated according to the state of the mobile robot at the discrete moment. The control amount is obtained A mobile robot at discrete moments Location information and speed information , whose expression is: ； in, For mobile robots No. The location at the moment, For mobile robots No. The speed of time, Individual mobile robots At discrete moments of control.

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