Distributed Control Method and Device for Mobile Robot System Based on Quantized Information

Abstract

The present invention relates to the technical field of robot control, and in particular provides a distributed control method and device for a mobile robot system based on quantization information. The method includes obtaining the discrete-time position information and velocity information of each mobile robot itself, and detecting the discrete-time position information and velocity information of its neighboring robots; constructing a communication topology structure according to the directionality and reachability of the communication links between the mobile robots, defining a signed adjacency weight matrix according to the friendly or adversarial interaction relationships between the mobile robots, and defining a Laplacian matrix corresponding to the signed graph; performing quantization processing on the position information and velocity information; generating a control quantity according to a quantization error compensation mechanism and combining with the signed weights, and updating the state of the mobile robot at the next moment through a discrete kinematic model. This method realizes the distributed coordinated control of the mobile robot system through quantization information and can tend to consistency under antagonistic actions.

Description

Technical Field

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

[0002] A mobile robot system is composed of multiple mobile robots and can complete tasks that are difficult for a single robot to accomplish. Compared with a single robot, a mobile robot system shows significant advantages in terms of technical performance, task adaptability, and system efficiency. In addition, through the cooperation between multiple mobile robots, the efficiency of the mobile robots during operation can be greatly improved. In a mobile robot system, for a complex dynamic environment, it is crucial to perceive and understand the information around the robots in real time. However, in practical applications, the communication limitations between robots and the complexity of the topological structure bring many challenges. For example, during communication, due to bandwidth limitations or privacy protection, the state information between individual robots often needs to be quantized before being transmitted in the network. The introduction of quantization information reduces the communication overhead while inevitably introducing quantization errors, which may affect the convergence performance of the system. The characteristic of antagonistic action requires designing a control algorithm that adapts to positive and negative connections to ensure that the mobile robot system can achieve consensus or split stability under antagonistic action. The core of the consensus problem lies in ensuring that the states of all mobile robots gradually tend to be consistent under antagonistic constraints, and this goal becomes particularly complex in scenarios with communication limitations and quantization errors. 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 quantization information, which is used to achieve distributed coordinated control of the mobile robot system and can tend to consensus under antagonistic action.

[0004] In a first aspect, the present invention provides a distributed control method for a mobile robot system based on quantization information, and the method includes:

[0005] Step 1, construct a communication topological structure;

[0006] Step 2, define an adjacency weight matrix and a Laplacian matrix according to the communication topological structure;

[0007] Step 3, generate a distributed control quantity through the adjacency weight matrix and the Laplacian matrix;

[0008] Step 4, iteratively update the states of the mobile robots based on the distributed control quantity.

[0009] Optionally, the Step 1 includes:

[0010] Obtain the discrete-time position information of each mobile robot itself in real time through the sensor network and speed information , and detect the discrete-time position information of its neighboring robots and speed information ; construct a communication topology according to the directionality and reachability of the communication links between mobile robots.

[0011] Optionally, step 2 includes:

[0012] Define a signed adjacency weight matrix according to the friendly or adversarial interaction relationship between mobile robots , where represents that mobile robot and have a friendly cooperation relationship; represents that mobile robot and have an adversarial competition relationship; represents that mobile robot cannot directly receive the information of mobile robot ; define the Laplacian matrix corresponding to the signed graph as , where .

[0013] Optionally, step 3 includes:

[0014] Quantize the position information and speed information to obtain and respectively; according to the quantization error compensation mechanism, combine the signed weight , generate a control quantity , and its expression is:

[0015] ;

[0016] where and are the position and speed of mobile robot at discrete time ; and are the position and speed of neighbor robot of mobile robot at discrete time ; is the control quantity of mobile robot at discrete time ; represents the element in the th row and th column of the adjacency weight matrix of the multi-mobile robot system; , is a preset control gain coefficient used to adjust the position and speed convergence rates; represents a quantization operation.

[0017] Optionally, step 4 includes:

[0018] Updating the state of the mobile robot at the next moment through a discrete kinematic model, and obtaining the th mobile robot's position information and speed information at the discrete moment , and its expression is:

[0019] ;

[0020] where is the position of the mobile robot at the th moment, is the speed of the mobile robot at the th moment, is the control amount of the individual mobile robot at the discrete moment .

[0021] Optionally, refining the communication topology connectivity, which satisfies:

[0022] a. Determining strong connectivity: Any two mobile robots can exchange information;

[0023] b. Weight symbol rule: Friendly relationship corresponds to a positive weight , and hostile relationship corresponds to a negative weight , and when there is no connection .

[0024] Optionally, the quantization processing of the position information and speed information includes:

[0025] Assume is the data to be quantized; due to bandwidth limitation, if the quantized data with a length of bits is obtained, then there will be quantization points, and thus the quantization interval is ; then, the data is quantized through the following probability method:

[0026] ;

[0027] , 。

[0028] Optionally, it includes:

[0029] Determine the control quantity according to the position of each mobile robot, the positions of neighboring robots, the communication topology among multiple mobile robots, the adjacency weight matrix, the Laplacian matrix, and the quantization interval ; The control quantity When reaching the bipartite consensus convergence, its convergence conditions are satisfied:

[0030] h, the real parts of the eigenvalues of the Laplacian matrix are all greater than zero, and there exists a balanced subspace;

[0031] i, the control gain coefficient , satisfies and , where is the minimum eigenvalue of the Laplacian matrix ;

[0032] j, the weight distribution of the adversarial relationship of the mobile robots causes the system to finally split into two subgroups, satisfying or , where is a constant, and the speed is synchronized to zero or the mirror symmetry value.

[0033] In a second aspect, the present invention provides a distributed control device for a mobile robot system based on quantization information. The device is used to implement the distributed control method for a mobile robot system based on quantization information in the first aspect or any possible implementation manner of the first aspect. The device includes:

[0034] A construction module for constructing a communication topology: obtaining the discrete-time position information and speed information of each mobile robot itself in real time through a sensor network and detecting the discrete-time position information and speed information

[0035] of its neighboring robots; constructing a communication topology according to the directionality and reachability of the communication links among the mobile robots; A definition module for defining an adjacency weight matrix and a Laplacian matrix according to the communication topology: defining a signed adjacency weight matrix according to the friendly or adversarial interaction relationship among the mobile robots, where represents that there is a friendly cooperation relationship between mobile robot and ; represents that there is a relationship between mobile robot There is a hostile competitive relationship; denote a mobile robot cannot directly receive information from the mobile robot ; Define the Laplacian matrix corresponding to the signed graph as , where ;

[0036] A generation module, configured to generate a distributed control quantity through an adjacency weight matrix and a Laplacian matrix: perform quantization processing on position information and speed information to respectively obtain and ; According to the quantization error compensation mechanism, combined with the signed weight , generate the control quantity , and its expression is:

[0037] ;

[0038] where and are the position and speed of the mobile robot at the discrete time ; and are the position and speed of the neighbor robot of the mobile robot at the discrete time ; is the control quantity of the mobile robot at the discrete time ; represents the element in the -th row and -th column of the adjacency weight matrix of the multi-mobile robot system; , is a preset control gain coefficient for adjusting the position and speed convergence rate; represents the quantization operation;

[0039] An update module, configured to iteratively update the mobile robot state based on the distributed control quantity: update the state of the mobile robot at the next moment through a discrete kinematic model, and obtain the position information and speed information of the -th mobile robot at the discrete time according to the control quantity of the mobile robot at the discrete time , and its expression is:

[0040] ;

[0041] where is the mobile robot the position at the moment, for the mobile robot the speed at the moment, for the individual mobile robot at discrete moments control quantity.

[0042] In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, where the computer-readable storage medium includes a stored program, and when the program runs, it controls the device where the computer-readable storage medium is located to execute the distributed control method of the mobile robot system based on quantization information in the first aspect or any possible implementation manner of the first aspect.

[0043] In a fourth aspect, an embodiment of the present invention provides an electronic device, including: one or more processors; a memory; and one or more computer programs, where the one or more computer programs are stored in the memory, and the one or more computer programs include instructions that, when executed by the device, cause the device to execute the distributed control method of the mobile robot system based on quantization information in the first aspect or any possible implementation manner of the first aspect.

[0044] In the technical solution provided by the present invention, the method includes constructing a communication topology structure; defining an adjacency weight matrix and a Laplacian matrix according to the communication topology structure; generating a distributed control quantity through the adjacency weight matrix and the Laplacian matrix; and iteratively updating the mobile robot state based on the distributed control quantity. This method realizes the distributed coordinated control of the mobile robot system through quantization information and can tend to consistency under antagonistic effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0046] Figure 1 is a flowchart of the distributed control method of the mobile robot system based on quantization information provided by the embodiment of the present invention;

[0047] Figure 2 is a schematic diagram of the mobile robot system provided by the embodiment of the present invention;

[0048] Figure 3Schematic diagram of the distributed control device of the mobile robot system based on quantization information provided by the embodiments of the present invention;

[0049] Figure 4 Schematic diagram of the simulation of the mobile robot system provided by the embodiments of the present invention;

[0050] Figure 5 Another schematic diagram of the simulation of the mobile robot system provided by the embodiments of the present invention;

[0051] Figure 6 Schematic diagram of an electronic device provided by the embodiments of the present invention. Detailed implementation manners

[0052] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0053] It should be clear that the described embodiments are only some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0054] 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", "the" and "said" used in the embodiments of the present invention are also intended to include the plural forms unless the context clearly indicates otherwise.

[0055] It should be understood that the term " / and / " used herein 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 simultaneously, and b exists alone. In addition, the character " / " herein generally represents an "or" relationship between the associated objects before and after.

[0056] Depending on the context, the word "if" as used herein can be interpreted as "when" or "while" or "in response to determining" or "in response to detecting". Similarly, depending on the context, the phrase "if determined" or "if detecting (stated condition or event)" can be interpreted as "when determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)".

[0057] Figure 1 The flowchart of the distributed control method for a mobile robot system based on quantization information provided by an embodiment of the present invention is as follows: Figure 1 As shown, the method includes:

[0058] Step 1: Construct a communication topology structure.

[0059] In an embodiment of the present invention, the discrete-time position information and velocity information of each mobile robot itself are obtained in real time through a sensor network and the discrete-time position information and velocity information of its neighboring robots are detected ; according to the directionality and reachability of the communication links between mobile robots, a communication topology structure is constructed. and the discrete-time position information and velocity information of its neighboring robots are detected ; according to the directionality and reachability of the communication links between mobile robots, a communication topology structure is constructed.

[0060] In an embodiment of the present invention, the communication topology connectivity is refined, which satisfies:

[0061] a. Determine strong connectivity: Information can be exchanged between any two mobile robots;

[0062] b. Weight sign rule: A friendly relationship corresponds to a positive weight and a hostile relationship corresponds to a negative weight when there is no connection .

[0063] In an embodiment of the present invention, a neighboring robot refers to the set of all other mobile robots from which information flows to this mobile robot. As Figure 2 shown in the signed undirected graph, mobile robots 2, 3, and 5 are neighbors of mobile robot 1, and mobile robots 1 and 5 are neighbors of mobile robot 2. However, mobile robots 1 and 2 are not neighbors of mobile robot 4. Specifically, the current position and velocity information of itself and its neighboring robots can be obtained through the sensor device installed on the mobile robot.

[0064] Step 2: Define an adjacency weight matrix and a Laplacian matrix according to the communication topology structure.

[0065] In an embodiment of the present invention, a signed adjacency weight matrix is defined according to the friendly or hostile interaction relationship between mobile robots , where represents that there is a friendly cooperation relationship between mobile robot and ; represents that there is a hostile competition relationship between mobile robot and ; represents that mobile robot cannot directly receive information from mobile robot the information; define the Laplacian matrix corresponding to the symbol graph as , where .

[0066] Step 3, generate a distributed control quantity through the adjacency weight matrix and the Laplacian matrix.

[0067] In the embodiment of the present invention, the position information and the speed information are quantized to obtain and respectively; according to the quantization error compensation mechanism, combined with the symbol weight , generate the control quantity , and its expression is:

[0068] ;

[0069] where and are the position and speed of the mobile robot at the discrete time ; and are the position and speed of the neighbor robot of the mobile robot at the discrete time ; is the control quantity of the mobile robot at the discrete time ; represents the element in the -th row and the -th column of the adjacency weight matrix of the multi-mobile robot system; , is a preset control gain coefficient for adjusting the position and speed convergence rate; represents the quantization operation.

[0070] In the embodiment of the present invention, the quantization process of the position information and the speed information in Step 3 includes:

[0071] Assume is the data to be quantized; due to bandwidth limitations, if the quantized data of length bits is obtained, then there will be quantization points, and thus the quantization interval is ; then, the data is quantized in the following probabilistic manner:

[0072] ;

[0073] , .

[0074] In the embodiment of the present invention, in step 3, the control quantity is determined according to the positions of each mobile robot, the positions of neighbor robots, the communication topology structure among multiple mobile robots, the adjacency weight matrix, the Laplacian matrix, and the quantization interval. ; the control quantity When the bipartite consensus converges, its convergence condition is satisfied:

[0075] h, the real parts of the eigenvalues of the Laplacian matrix are all greater than zero, and there exists a balanced subspace;

[0076] i, the control gain coefficient , satisfies and , where is the smallest eigenvalue of the Laplacian matrix ;

[0077] j, the weight distribution of the adversarial relationship of the mobile robots causes the system to finally split into two subgroups, satisfying or , where is a constant, and the speed is synchronized to zero or the mirror symmetry value.

[0078] Step 4: Based on the distributed control quantity, iteratively update the state of the mobile robot.

[0079] In the embodiment of the present invention, the state of the mobile robot at the next moment is updated through a discrete kinematic model, and the position information and the speed information of the th mobile robot at the discrete moment are obtained according to the control quantity of the mobile robot at the discrete moment . The expression is:

[0080] ;

[0081] where is the position of the mobile robot at the th moment, is the speed of the mobile robot at the th moment, is the control quantity of the individual mobile robot at the discrete moment .

[0082] Figure 3 is a schematic diagram of the distributed control device for the mobile robot system based on quantization information provided by the embodiment of the present invention. As Figure 3As shown, the device includes:

[0083] A construction module, a definition module, a generation module, and an update module; the construction module is connected to the definition module and the generation module; the generation module and the update module are connected;

[0084] The construction module is used to construct a communication topology: obtain the discrete-time position information and velocity information of each mobile robot itself in real time through a sensor network and the velocity information , and detect the discrete-time position information and the velocity information of its neighboring robots; construct a communication topology according to the directionality and reachability of the communication links between mobile robots;

[0085] The definition module is used to define an adjacency weight matrix and a Laplacian matrix according to the communication topology: define a signed adjacency weight matrix according to the friendly or adversarial interaction relationship between mobile robots , where represents that mobile robot and have a friendly cooperation relationship; represents that mobile robot and have an adversarial competition relationship; represents that mobile robot cannot directly receive the information of mobile robot ; define the Laplacian matrix corresponding to the signed graph as , where ;

[0086] The generation module is used to generate a distributed control quantity through the adjacency weight matrix and the Laplacian matrix: perform quantization processing on the position information and velocity information to obtain and respectively; according to the quantization error compensation mechanism, combine the signed weight to generate a control quantity , and its expression is:

[0087] ;

[0088] where and are the position and velocity of mobile robot at discrete time ; and are the position and velocity of neighboring robot of mobile robot at discrete time ; For a mobile robot At discrete time instants The control quantity; Denote the element in the th row and th column of the adjacency weight matrix of the multi-mobile robot system; , Is a preset control gain coefficient for adjusting the position and speed convergence rates; Denote the quantization operation;

[0089] An update module, for iteratively updating the mobile robot state based on the distributed control quantity: updating the state of the mobile robot at the next time instant through a discrete kinematic model, obtaining the position information at discrete time instants of the th mobile robot at discrete time instants and the speed information , and its expression is:

[0090] ;

[0091] Wherein, Is the position of the mobile robot at the th instant, Is the speed of the mobile robot at the th instant, Is the control quantity of the individual mobile robot at discrete time instants .

[0092] In the embodiments of the present invention, from 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, because the relationship between mobile robots 1 and 2 and mobile robots 3, 4, and 5 is adversarial, while the relationship between mobile robots 1 and 2 is friendly, and the relationship between mobile robots 3, 4, and 5 is friendly. The values to which the speeds of these two groups of robots converge tend to -0.1996 and 0.1996 respectively.

[0093] In the present invention, the position and speed information of each mobile robot, and the position and speed information of the neighbor robots of each mobile robot are obtained to determine the communication topology structure among multiple mobile robots; according to whether the relationship among multiple mobile robots is friendly or hostile, an adjacency weight matrix and a Laplacian matrix are determined; according to the position and speed information of each mobile robot, the position and speed information of neighbor robots, the communication topology structure among multiple mobile robots, the adjacency weight matrix, the Laplacian matrix, and the quantization interval, the control quantity of each mobile robot is determined; and subsequently, each mobile robot is controlled according to the control quantity of each mobile robot. By obtaining the position and speed information of each mobile robot and its neighbor robots and designing a control protocol based thereon, the present invention can ensure that the multi-mobile robot system achieves bipartite consensus with high control accuracy, reduces the amount of information to be processed in connection with the communication topology connection mode of the system, is conducive to making quick decisions and real-time control, and improves the operating efficiency of the system.

[0094] In the technical solution provided by the present invention, the method includes obtaining, through a sensor network, the discrete-time position information and speed information of each mobile robot itself, and detecting the discrete-time position information and speed information of its neighbor robots; constructing a communication topology structure according to the directionality and reachability of the communication links among the mobile robots, defining a signed adjacency weight matrix according to the friendly or hostile interaction relationship among the mobile robots, and defining a Laplacian matrix corresponding to the signed graph; performing quantization processing on the position information and speed information; generating a control quantity according to a quantization error compensation mechanism in combination with the signed weights, updating the state of the mobile robot at the next moment through a discrete kinematic model, and obtaining the position information and speed information of the nth mobile robot at discrete time according to the control quantity of the mobile robot at discrete time. The method realizes distributed coordinated control of the mobile robot system through quantization information and can tend to consensus under antagonistic actions.

[0095] Each step of the embodiment of the present invention can be executed by an electronic device. Among them, the electronic device includes but is not limited to mobile phones, tablet computers, portable PCs, desktop computers, etc.

[0096] The embodiment of the present invention provides a computer-readable storage medium. The computer-readable storage medium includes a stored program, wherein when the program runs, it controls the electronic device where the computer-readable storage medium is located to execute the embodiment of the above-mentioned distributed control method of a mobile robot system based on quantization information.

[0097] Figure 6 is a schematic diagram of an electronic device provided by an embodiment of the present invention, as Figure 6As 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, it implements the distributed control method of the mobile robot system based on quantization information in the embodiments. To avoid repetition, it will not be elaborated here one by one.

[0098] The electronic device 21 includes, but is not limited to, a processor 211 and a memory 212. Those skilled in the art can understand that Figure 6 These are merely examples of the electronic device 21 and do not constitute a limitation on the electronic device 21. It may include more or fewer components than shown in the figure, or combine certain components, or different components. For example, the electronic device may also include input / output devices, network access devices, a bus, etc.

[0099] The so-called processor 211 may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0100] The memory 212 may be an internal storage unit of the electronic device 21, such as the 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, etc., equipped on the electronic device 21. Further, the memory 212 may also include both the internal storage unit and the external storage device of the electronic device 21. The memory 212 is used to store the computer program and other programs and data required by the network device. The memory 212 may also be used to temporarily store data that has been output or will be output.

[0101] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described system, device, and unit can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated here again.

[0102] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within 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: Iteratively update the state of the mobile robot based on the distributed control quantity; 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 quantized operation; 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: ； ， 。 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 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.

5. 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 .

6. The method according to claim 1, 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.

7. 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 6, 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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