A distributed multi-robot cooperative control method, system and electronic device

Abstract

This invention discloses a distributed multi-robot cooperative control method, system, and electronic device, belonging to the field of robot control technology. By constructing a robot motion model and a multi-robot communication topology model, it provides guarantees for the motion control and signal transmission of multiple robots. Furthermore, through collision risk rejection calculation, it obtains collision avoidance commands to ensure that multiple robots will not collide with other robots or obstacles during movement. Then, it improves the safety of obstacle avoidance through safe detour commands. Finally, it generates multi-robot cooperative control commands and sends them to each robot according to the leader and follower communication structure to improve the robot's reasonable obstacle avoidance, adjacent robot rejection, and communication cooperation capabilities. This enhances the safety and transportation efficiency of robots in the transportation path, effectively avoids collisions, and ensures safe cooperative transportation of multiple robots.

Description

Technical Field

[0001] This invention belongs to the field of robot control technology, specifically relating to a distributed multi-robot collaborative control method, system, and electronic equipment. Background Technology

[0002] In recent years, with the deep integration of automation technology and artificial intelligence, mobile robot collaborative operations have become a key technology in industrial scenarios such as logistics and transportation, inspection and security, and intelligent manufacturing, thanks to their significant advantages such as information sharing, increased efficiency, and high flexibility. Especially in the logistics and transportation sector, traditional manual logistics models face multiple challenges in the goods handling process: loading, unloading, transportation, and route planning are highly dependent on manpower, resulting in high labor costs. Furthermore, the efficiency of manual operations is constrained by factors such as fatigue and skill level, making it difficult to achieve standardized and large-scale goods handling management. In addition, the lack of global coordination capabilities in manual scheduling leads to problems such as path redundancy and uneven task allocation during goods handling, further increasing logistics costs and reducing overall efficiency.

[0003] Therefore, in recent years, mobile handling robots have emerged on the market. These robots integrate multiple sensing devices such as LiDAR, visual sensors, and inertial navigation, combined with SLAM (Simultaneous Localization and Mapping) technology, to perceive environmental information in real time and build high-precision maps. After receiving instructions from the upper-level system, the robot can autonomously complete tasks such as picking up, loading, unloading, and handling goods, and automate the inbound and outbound processes through preset path planning algorithms. More importantly, multi-robot systems can achieve task-level collaboration through wireless communication networks (such as 5G and Wi-Fi 6), dynamically allocating handling tasks and optimizing path selection, thereby significantly improving operational efficiency in scenarios with large volumes of goods.

[0004] However, with the increasing complexity of application scenarios, the technical shortcomings of multi-robot collaborative control are gradually becoming apparent. While current mainstream distributed control architectures achieve decentralized decision-making through local communication, three core problems remain in high-density operating environments: First, frequent path conflicts. Because each robot plans its own path, congestion easily occurs in narrow passages or intersections, leading to a decrease in overall system throughput. Second, insufficient dynamic obstacle avoidance capabilities. When faced with obstacles (such as fallen goods or people entering) or robot malfunctions, existing algorithms struggle to quickly reconstruct collision-free paths, easily triggering chain collisions. Third, communication latency and data loss. In large-scale robot swarms, wireless channel contention increases command transmission latency, and some robots may execute outdated tasks due to information asynchrony, further exacerbating system uncertainty.

[0005] As mentioned above, how to provide a distributed multi-robot collaborative control method, system, and electronic equipment that can effectively avoid collisions and ensure the safe collaborative transportation of multiple robots has become an urgent problem to be solved. Summary of the Invention

[0006] The purpose of this invention is to provide a distributed multi-robot cooperative control method, system, and electronic device to solve the aforementioned problems existing in the prior art.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] In a first aspect, the present invention provides a distributed multi-robot cooperative control method, comprising:

[0009] Acquire basic motion data of each robot and relative relationship data between each robot. Based on the basic motion data of each robot, establish a robot motion model for each robot. Based on the relative relationship data between each robot, establish a multi-robot communication topology model. The output of the robot motion model is the initial robot speed control command, and the output of the multi-robot communication topology model is the leader and follower communication structure between each robot.

[0010] Obtain preset collision risk triggering conditions and obstacle information, and perform collision risk rejection calculations for each robot based on the robot motion model, the multi-robot communication topology model, the preset collision risk triggering conditions and the obstacle information, and generate collision avoidance commands based on the calculation results;

[0011] Based on the obstacle information and the robot motion model, a safe movement boundary is generated for each robot, and a safe detour instruction is generated based on the safe movement boundary;

[0012] The initial robot speed control command, the collision avoidance command, and the safe detour command are integrated to form a multi-robot collaborative control command, and the multi-robot collaborative control command is sent to each robot according to the leader and follower communication structure.

[0013] In one possible design, a robot motion model is built for each robot based on its basic motion data, including:

[0014] Acquire basic motion data for each robot, including robot position, robot attitude angle, robot linear velocity, robot angular velocity, and robot measurement point offset;

[0015] Based on the basic motion data of each robot, the following robot motion model is established:

[0016] (1)

[0017] Among them, among them, Vertical position derivative, For the first The lateral position derivative of the robot, For the first The robot's attitude angles For the first The linear velocity of the robot, For the first The angular velocity of the robot For the first The offset of the measurement point of each robot, Represents positive integers;

[0018] Then, the first The linear velocity of the robot and the angular velocity of the robot for:

[0019] ， (2)

[0020] The first The linear velocity of the robot and the angular velocity of the robot Convert to the first The longitudinal speed of the robot and the Lateral velocity of the robot :

[0021] (3)

[0022] Obtain the preset robot speed, and based on the preset robot speed, the first... The longitudinal speed of the robot and the Lateral velocity of the robot Generate initial robot speed control commands for each robot.

[0023] In one possible design, a multi-robot communication topology model is established based on the relative relationship data between the robots, including:

[0024] Acquire relative relationship data between each robot, wherein the relative relationship data includes the number of robots, the communication links between each robot, and the communication relationship between each robot and its neighboring robots;

[0025] Based on the relative relationship data between the robots, an undirected graph structure is defined. :

[0026] (4)

[0027] in, Let be a set of points, where each point represents a robot. It is a set of edges, where each edge represents a communication link between robots;

[0028] Based on the robot motion model of each robot, the communication relationship between each robot and its neighboring robots, and the undirected graph structure. Select the leader robot and define the other robots as follower robots;

[0029] Based on the communication relationship and undirected graph structure between the leader robot and each of the follower robots This establishes a communication structure for leaders and followers.

[0030] In one possible design, preset collision risk triggering conditions and obstacle information are obtained. Based on the robot motion model of each robot, the multi-robot communication topology model, the preset collision risk triggering conditions, and the obstacle information, collision risk rejection calculations are performed on each robot. Collision avoidance instructions are then generated based on the calculation results, including:

[0031] Acquire preset collision risk triggering conditions and obstacle information, wherein the preset collision risk triggering conditions include the risk triggering distance between adjacent robots. Minimum safe distance between adjacent robots and potential energy gain coefficient The obstacle information includes the potential energy gain between the robot and the obstacle. Risk trigger distance between obstacle robots Minimum safe distance between the robot and the obstacle ;

[0032] The real-time motion state information of each robot is obtained based on the robot motion model and the multi-robot communication topology model. The real-time motion state information of each robot includes the current robot's position coordinates, current robot's attitude angle, current robot's linear velocity, and current robot's angular velocity.

[0033] Based on the real-time motion state information of each robot and the obstacle information, the distance between the current robot and its neighboring robots is obtained. The current distance between the robot and the obstacle The line-of-sight angle of adjacent robots relative to the current robot The current robot's line-of-sight angle relative to adjacent robots. The line-of-sight angle of the obstacle relative to the current robot and the potential energy gain between the current robot and its neighboring robots ;

[0034] Low-trigger potential energy is calculated for each robot, and the collision avoidance potential energy of each robot is obtained, so as to generate collision avoidance commands based on the collision avoidance potential energy of each robot.

[0035] In one possible design, low-trigger potential energy is calculated for each robot to obtain its collision avoidance potential energy. Collision avoidance commands are then generated based on these potential energies, including:

[0036] Determine the distance between the current robot and its neighboring robots. Is it within the risk trigger distance between adjacent robots? Minimum safe distance between adjacent robots If so, the collision avoidance potential energy between the current robot and its neighboring robots is calculated using the following formula. :

[0037] (5)

[0038] If not, then determine the distance between the current robot and its neighboring robots. Is it not less than the risk trigger distance between adjacent robots? If yes, then no collision avoidance command is generated; otherwise, a first repulsion avoidance command is generated for the current robot and the adjacent robot. The first repulsion avoidance command is used to control the current robot and the adjacent robot to move away from each other.

[0039] Determine the distance between the robot and the obstacle. Is it within the risk trigger distance between obstacle robots? Minimum safe distance between the robot and the obstacle If so, the collision avoidance potential energy between the robot and the obstacle is calculated using the following formula. :

[0040] (6)

[0041] If not, determine the distance between the robot and the obstacle. Is it not less than the risk trigger distance between obstacle robots? If yes, then no collision avoidance command is generated; otherwise, a second repulsion avoidance command is generated for the current robot. The second repulsion avoidance command is used to control the current robot to move away from the obstacle.

[0042] Furthermore, in the above formulas (5) and (6), This indicates that the current robot is the first in the leader-follower communication structure. A robot, This indicates that the current robot's neighboring robots are the first robots in the leader-follower communication structure. A robot, Indicates an obstacle. This represents the velocity coupling coefficient between the current robot and its neighboring robots. The velocity coupling coefficient between the robot and the obstacle is:

[0043] (7)

[0044] in, This represents the current linear velocity of the robot. This represents the linear velocity of the current robot's neighboring robots. For absolute value operators, The base of the natural logarithm;

[0045] Based on the collision avoidance potential energy between the current robot and neighboring robots And the collision avoidance potential energy between the robot and the obstacle. Generate avoidance commands, which are used to control the current robot to avoid collisions with adjacent robots and obstacles;

[0046] The first repulsion and avoidance commands, the second repulsion and avoidance commands, and the avoidance commands of each robot are integrated to form a collision avoidance command.

[0047] In one possible design, based on the obstacle information and the robot motion model, safe movement boundaries are generated for each robot, and based on the safe movement boundaries, safe detour instructions are generated, including:

[0048] Based on the obstacle information, an obstacle model is constructed to form an obstacle model. The edge of the obstacle model's projection on the ground is used as the obstacle model's edge line. The obstacle model is a hemisphere with the obstacle's center as its center, and the obstacle model's edge line is a circle with the obstacle's center as its center and the distance between the obstacle's most prominent point and the obstacle's center as its radius.

[0049] Obtain a preset safe detour distance, and based on the robot motion model, obtain the robot position of each robot. Using the robot position of each robot as the center and the preset safe detour distance as the radius, generate a safe motion boundary for each robot.

[0050] It is determined whether the safe movement boundary of each robot intersects with the edge line of the obstacle model. If so, a first movement direction adjustment command is generated, wherein the first movement direction adjustment command is used to apply a first acceleration to the robot.

[0051] If not, based on the robot motion model, the acceleration of each robot is obtained, and it is determined whether the acceleration direction of each robot is close to the edge line of the obstacle model. If so, a second motion direction adjustment command is generated, wherein the second motion direction adjustment command is used to apply a second acceleration to the robot.

[0052] If not, no motion direction adjustment command is generated, wherein the first acceleration and the first acceleration are both accelerations in the direction away from the obstacle, and the absolute value of the first acceleration is not lower than the absolute value of the second acceleration;

[0053] For each robot, the first motion direction adjustment command and the second motion direction adjustment command are integrated to form a safe detour command.

[0054] In one possible design, for each robot, the first motion direction adjustment command and the second motion direction adjustment command are integrated to form a safe detour command, including:

[0055] For each robot, the first motion direction adjustment command and the second motion direction adjustment command are integrated, and an acceleration threshold is obtained based on the robot motion model, wherein the acceleration threshold is an acceleration value without direction.

[0056] Correcting the first acceleration and the second acceleration according to the acceleration threshold includes:

[0057] If the absolute value of the first acceleration does not exceed the acceleration threshold, then the first acceleration and the second acceleration are considered as safe accelerations.

[0058] If the absolute value of the first acceleration exceeds the acceleration threshold and the absolute value of the second acceleration does not exceed the acceleration threshold, then the magnitude of the first acceleration is replaced by the acceleration threshold, the first acceleration is corrected to a first safe acceleration, and the first safe acceleration and the second acceleration are used as safe accelerations.

[0059] If the absolute value of the second acceleration exceeds the acceleration threshold, then the acceleration threshold is used to replace the magnitudes of the first acceleration and the second acceleration, the first acceleration is corrected to a first safe acceleration, the second acceleration is corrected to a second safe acceleration, and the first safe acceleration and the second safe acceleration are used as safe accelerations.

[0060] For each robot, the first motion direction adjustment command and the second motion direction adjustment command are corrected using the safety acceleration to obtain the first safe motion direction adjustment command and the second safe motion direction adjustment command, so as to generate the safe detour command through the first safe motion direction adjustment command and the second safe motion direction adjustment command.

[0061] In one possible design, the initial robot speed control command, the collision avoidance command, and the safe detour command are integrated to form a multi-robot cooperative control command. This multi-robot cooperative control command is then sent to each robot according to the leader-follower communication structure, including:

[0062] The initial robot speed control command is calculated to obtain the initial robot linear velocity control command and the initial robot angular velocity control command;

[0063] Using the collision avoidance command and the safe detour command, the initial robot linear velocity control command and the initial robot angular velocity control command of each robot are modified to generate the actual robot velocity control command of each robot, wherein the actual robot velocity control command includes the actual robot linear velocity control command and the actual robot angular velocity control command.

[0064] The actual robot speed control commands of each robot are integrated into multi-robot collaborative control commands, and the multi-robot collaborative control commands are sent to the leader-follower communication structure so that the multi-robot collaborative control commands are distributed to each robot according to the leader-follower communication structure.

[0065] In a second aspect, the present invention provides a distributed multi-robot cooperative control system for implementing the distributed multi-robot cooperative control method as described in any of the first aspects above, characterized in that it includes:

[0066] The motion and communication structure modeling unit is used to acquire the basic motion data of each robot and the relative relationship data between each robot. Based on the basic motion data of each robot, a robot motion model is established for each robot. Based on the relative relationship data between each robot, a multi-robot communication topology model is established. The output of the robot motion model is the initial robot speed control command, and the output of the multi-robot communication topology model is the leader and follower communication structure between each robot.

[0067] The collision avoidance command generation unit is used to obtain preset collision risk triggering conditions and obstacle information, so as to perform collision risk rejection calculation for each robot according to the robot motion model of each robot, the multi-robot communication topology model, the preset collision risk triggering conditions and the obstacle information, and generate collision avoidance commands based on the calculation results.

[0068] A safe detour instruction generation unit is used to generate safe movement boundaries for each robot based on the obstacle information and the robot motion model, and generate safe detour instructions based on the safe movement boundaries;

[0069] The collaborative control command generation and distribution unit is used to integrate the initial robot speed control command, the collision avoidance command, and the safe detour command to form a multi-robot collaborative control command, and send the multi-robot collaborative control command to each robot according to the leader and follower communication structure.

[0070] Thirdly, the present invention provides an electronic device comprising a memory, a processor, and a transceiver connected in sequence, wherein the memory is used to store a computer program, the transceiver is used to send and receive messages, and the processor is used to read the computer program and execute the distributed multi-robot cooperative control method as described in the first aspect or any possible design of the first aspect.

[0071] Beneficial Effects: This invention provides a distributed multi-robot cooperative control method, system, and electronic device, including: First, acquiring basic motion data of each robot and relative relationship data between each robot; establishing a robot motion model for each robot based on the basic motion data; and establishing a multi-robot communication topology model based on the relative relationship data between each robot. The output of the robot motion model is the initial robot speed control command, and the output of the multi-robot communication topology model is the leader-follower communication structure between each robot. Second, acquiring preset collision risk triggering conditions and obstacle information to control the robot's speed according to the relative relationship data between each robot. The system uses the robot motion model, the multi-robot communication topology model, the preset collision risk triggering conditions, and the obstacle information to perform collision risk rejection calculations for each robot and generate collision avoidance commands based on the calculation results. Then, based on the obstacle information and the robot motion model, it generates safe movement boundaries for each robot and generates safe detour commands based on the safe movement boundaries. Finally, it integrates the initial robot speed control commands, the collision avoidance commands, and the safe detour commands to form multi-robot collaborative control commands, and sends the multi-robot collaborative control commands to each robot according to the leader-follower communication structure. By constructing robot motion models and multi-robot communication topology models, we ensure the motion control and signal transmission of multiple robots. Furthermore, through collision risk rejection calculation, we obtain collision avoidance commands to ensure that multiple robots will not collide with other robots or obstacles during movement. Then, we improve the safety of obstacle avoidance by using safe detour commands. Finally, we generate multi-robot collaborative control commands and send them to each robot according to the leader and follower communication structure. This improves the robot's ability to avoid obstacles, reject adjacent robots, and coordinate communication, thereby improving the safety and efficiency of the robots in the transportation path, effectively avoiding collisions, and ensuring safe collaborative transportation of multiple robots. Attached Figure Description

[0072] Figure 1 A flowchart illustrating the distributed multi-robot cooperative control method provided in an embodiment of the present invention;

[0073] Figure 2 This is a functional structure diagram of the distributed multi-robot collaborative control system provided in an embodiment of the present invention;

[0074] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0075] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be briefly introduced below in conjunction with the accompanying drawings and descriptions of the embodiments or the prior art. Obviously, the following description of the structure of the accompanying drawings is only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. It should be noted that the description of these embodiments is for the purpose of helping to understand the present invention, but does not constitute a limitation of the present invention.

[0076] It should be understood that although the terms first, second, etc., may be used herein to describe various units, these units should not be limited by these terms. These terms are only used to distinguish one unit from another. For example, a first unit may be referred to as a second unit, and similarly, a second unit may be referred to as a first unit, without departing from the scope of the exemplary embodiments of the invention.

[0077] It should be understood that the term "and / or" that may appear in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, B exists alone, and A and B exist simultaneously. The term " / and" that may appear in this document describes another relationship between related objects, indicating that two relationships can exist. For example, A / and B can mean: A exists alone, and A and B exist alone. In addition, the character " / " that may appear in this document generally indicates that the related objects before and after it are in an "or" relationship.

[0078] Example:

[0079] like Figure 1 As shown, the first aspect of this embodiment provides a distributed multi-robot cooperative control method, including:

[0080] S1. Obtain the basic motion data of each robot and the relative relationship data between each robot. Based on the basic motion data of each robot, establish a robot motion model for each robot. Based on the relative relationship data between each robot, establish a multi-robot communication topology model. The output of the robot motion model is the initial robot speed control command, and the output of the multi-robot communication topology model is the leader and follower communication structure between each robot.

[0081] In one possible implementation, step S1 of this embodiment, establishing a robot motion model for each robot based on the basic motion data of each robot, can be decomposed into, but is not limited to, the following steps S11-S14, including:

[0082] S11. Obtain basic motion data for each robot, wherein the basic motion data includes robot position, robot attitude angle, robot linear velocity, robot angular velocity, and robot measurement point offset;

[0083] S12. Based on the basic motion data of each robot, the following robot motion model is established:

[0084] (1)

[0085] in, Vertical position derivative, For the first The lateral position derivative of the robot, For the first The robot's attitude angles For the first The linear velocity of the robot, For the first The angular velocity of the robot For the first The offset of the measurement point of each robot, Represents a positive integer, and ( , ) is the first The location of each robot;

[0086] Then, the first The linear velocity of the robot and the angular velocity of the robot for:

[0087] ， (2)

[0088] S13. The first The linear velocity of the robot and the angular velocity of the robot Convert to the first The longitudinal speed of the robot and the Lateral velocity of the robot :

[0089] (3)

[0090] S14. Obtain the preset robot speed, and based on the preset robot speed, the... The longitudinal speed of the robot and the Lateral velocity of the robot Generate initial robot speed control commands for each robot.

[0091] In one possible implementation, step S1 of this embodiment, establishing a multi-robot communication topology model based on the relative relationship data between the robots, can be decomposed into, but is not limited to, the following steps S15-S18, including:

[0092] S15. Obtain relative relationship data between each robot, wherein the relative relationship data includes the number of robots, the communication links between each robot, and the communication relationship between each robot and its neighboring robots;

[0093] S16. Based on the relative relationship data between the robots, an undirected graph structure is defined. :

[0094] (4)

[0095] in, Let be a set of points, where each point represents a robot. It is a set of edges, where each edge represents a communication link between robots;

[0096] S17. Based on the robot motion model of each robot, the communication relationship between each robot and its neighboring robots, and the undirected graph structure. Select the leader robot and define the other robots as follower robots;

[0097] S18. Based on the communication relationship and undirected graph structure between the leader robot and each of the follower robots. This establishes a communication structure for leaders and followers.

[0098] It should be noted that although formula (3) is similar in form to formula (1), it is actually a process of decoupling the final generated control command from the robot's basic motion data, so that the final generated longitudinal velocity lateral velocity of and This design allows for a clearer control method. After receiving the initial robot speed control command, the robot directly calculates the command and generates controls for its linear and angular velocities. This decouples complex robot pose control commands into simple longitudinal and lateral velocity control commands, simplifying command issuance and improving the collaborative control of multiple robots.

[0099] Furthermore, the leader-follower communication structure in the multi-robot communication topology model consists of a leader robot and multiple follower robots as vertices, with the communication connections between the leader robot and each follower robot, as well as between each follower robot, forming a communication topology. The leader robot is the core of global trajectory planning in multi-robot motion, responsible for generating (or receiving first) and executing instructions. Its trajectory is not controlled or affected by other robots; it only needs to execute obstacle avoidance instructions during movement. After generating (or receiving first) control instructions, the leader robot will follow the undirected graph structure... The leader robot communicates with some followers via edge connections, sending its own motion state information (basic information such as position and speed) and instructions. The leader robot does not receive signal feedback from the follower robots. The follower robots, however, need to track the leader robot's trajectory through a distributed controller, maintain formation with neighboring followers, and avoid obstacles. Therefore, most of the control flow in steps S2-S3 is executed by the follower robots, which utilize an undirected graph structure. The edge connections in the graph receive instructions from neighboring robots, follow the robot to execute the received instructions, and then re-follow the instructions along the undirected graph structure. The leader-follower communication structure sends edge connections to other robots with which it has a communication link, while simultaneously feeding back its own motion status information (basic information such as position and speed) to adjacent follower robots. This structure not only quantifies the distributed collaborative relationships between robots, ensuring the controllability of each robot, but also avoids increased command transmission latency, timeouts in command execution by some robots, and overall collaborative failure caused by wireless channel contention due to unclear communication link selection. Therefore, by building such a leader-follower communication structure, the timeliness and accuracy of collaborative control can be further improved.

[0100] S2. Obtain preset collision risk triggering conditions and obstacle information, and perform collision risk rejection calculations for each robot based on the robot motion model, the multi-robot communication topology model, the preset collision risk triggering conditions and the obstacle information, and generate collision avoidance instructions based on the calculation results;

[0101] In one possible implementation, step S2 of this embodiment involves obtaining preset collision risk triggering conditions and obstacle information. Based on the robot motion model of each robot, the multi-robot communication topology model, the preset collision risk triggering conditions, and the obstacle information, collision risk rejection calculations are performed on each robot. Collision avoidance commands are then generated based on the calculation results. This can be broken down into, but is not limited to, the following steps S21-S24, including:

[0102] S21. Obtain preset collision risk triggering conditions and obstacle information, wherein the preset collision risk triggering conditions include the risk triggering distance between adjacent robots. Minimum safe distance between adjacent robots and potential energy gain coefficient The obstacle information includes the potential energy gain between the robot and the obstacle. Risk trigger distance between obstacle robots Minimum safe distance between the robot and the obstacle ;

[0103] S22. Obtain the real-time motion state information of each robot based on the robot motion model and the multi-robot communication topology model, wherein the real-time motion state information of each robot includes the current robot's position coordinates, the current robot's attitude angle, the current robot's linear velocity, and the current robot's angular velocity.

[0104] S23. Based on the real-time motion state information of each robot and the obstacle information, obtain the distance between the current robot and its neighboring robots. The current distance between the robot and the obstacle The line-of-sight angle of adjacent robots relative to the current robot The current robot's line-of-sight angle relative to adjacent robots. The line-of-sight angle of the obstacle relative to the current robot and the potential energy gain between the current robot and its neighboring robots ;

[0105] S24. Calculate the low-trigger potential energy for each robot and obtain the collision avoidance potential energy for each robot, so as to generate collision avoidance commands based on the collision avoidance potential energy of each robot.

[0106] In one possible implementation, step S24 of this embodiment involves calculating the low-trigger potential energy for each robot and obtaining the collision avoidance potential energy for each robot, so as to generate a collision avoidance command based on the collision avoidance potential energy of each robot. This step can be decomposed into, but is not limited to, the following steps S241-S244, including:

[0107] S241. Determine the distance between the current robot and its neighboring robots. Is it within the risk trigger distance between adjacent robots? Minimum safe distance between adjacent robots If so, the collision avoidance potential energy between the current robot and its neighboring robots is calculated using the following formula. :

[0108] (5)

[0109] If not, then determine the distance between the current robot and its neighboring robots. Is it not less than the risk trigger distance between adjacent robots? If yes, then no collision avoidance command is generated; otherwise, a first repulsion avoidance command is generated for the current robot and the adjacent robot. The first repulsion avoidance command is used to control the current robot and the adjacent robot to move away from each other.

[0110] S242. Determine the distance between the robot and the obstacle. Is it within the risk trigger distance between obstacle robots? Minimum safe distance between the robot and the obstacle If so, the collision avoidance potential energy between the robot and the obstacle is calculated using the following formula. :

[0111] (6)

[0112] If not, determine the distance between the robot and the obstacle. Is it not less than the risk trigger distance between obstacle robots? If yes, then no collision avoidance command is generated; otherwise, a second repulsion avoidance command is generated for the current robot. The second repulsion avoidance command is used to control the current robot to move away from the obstacle.

[0113] Furthermore, in the above formulas (5) and (6), This indicates that the current robot is the first in the leader-follower communication structure. A robot, This indicates that the current robot's neighboring robots are the first robots in the leader-follower communication structure. A robot, Indicates an obstacle. This represents the velocity coupling coefficient between the current robot and its neighboring robots. The velocity coupling coefficient between the robot and the obstacle is:

[0114] (7)

[0115] in, This represents the current linear velocity of the robot. This represents the linear velocity of the current robot's neighboring robots. For absolute value operators, The base of the natural logarithm;

[0116] S243. Based on the collision avoidance potential energy between the current robot and its neighboring robots. And the collision avoidance potential energy between the robot and the obstacle. Generate avoidance commands, which are used to control the current robot to avoid collisions with adjacent robots and obstacles;

[0117] S244. Integrate the first repulsion and avoidance commands, the second repulsion and avoidance commands, and the avoidance commands of each robot to form a collision avoidance command.

[0118] It should be noted that, in practical applications, the velocity coupling coefficient between the current robot and its neighboring robots is used. and the velocity coupling coefficient between the current robot and the obstacle By incorporating the robot's line-of-sight angle, the relative velocity direction between robots is taken into account. (When the current robot is relatively stationary or far away from its neighboring robot, the repulsive force between them is considered to be close to zero, and the collision avoidance potential energy is also zero.) Therefore, the collision avoidance potential energy is triggered if and only if the current robot is detected to simultaneously satisfy both the distance and orientation conditions. The calculation (i.e., low-trigger potential energy calculation) generates the first repulsion avoidance command. This low-trigger potential energy calculation design can avoid issuing a large number of invalid commands in the cooperative control of multiple robots, ensuring the rationality of robot speed control commands. Furthermore, when robots are far apart, it can ensure that the collision avoidance command is under weak constraint, guaranteeing smooth movement. In addition, the potential energy gain coefficient... It can adjust the potential energy intensity to avoid collisions, thus preventing multi-task conflicts between robots due to the adjustment of collision avoidance commands.

[0119] By setting steps S241 and S242, the robot can avoid collisions in a timely manner when it detects a risk, and maintain normal movement posture and speed. This better maintains the formation of multiple robots, enabling each following robot to make timely, reasonable and smooth speed and direction adjustments when encountering obstacles. This allows multiple robots to smoothly avoid obstacles while maintaining normal displacement paths, without worrying about collisions between the following robots, thus ensuring efficiency and safety in goods handling.

[0120] S3. Based on the obstacle information and the robot motion model, generate safe movement boundaries for each robot, and generate safe detour instructions based on the safe movement boundaries;

[0121] In one possible implementation, step S3 of this embodiment, generating safe movement boundaries for each robot based on the obstacle information and the robot motion model, and generating safe detour instructions based on the safe movement boundaries, can be decomposed into, but is not limited to, the following steps S31-S34, including:

[0122] S31. Based on the obstacle information, build a model of the obstacle to form an obstacle model, and use the edge of the projection of the obstacle model on the ground as the edge line of the obstacle model. The obstacle model is a hemisphere with the center of the obstacle as its center, and the edge line of the obstacle model is a circle with the center of the obstacle as its center and the distance between the most prominent point of the obstacle and the center of the obstacle as its radius.

[0123] S32. Obtain the preset safe detour distance, and according to the robot motion model, obtain the robot position of each robot, and generate a safe motion boundary for each robot with the robot position of each robot as the center and the preset safe detour distance as the radius.

[0124] S33. Determine whether the safe movement boundary of each robot intersects with the edge line of the obstacle model. If so, generate a first movement direction adjustment command, wherein the first movement direction adjustment command is used to apply a first acceleration to the robot.

[0125] If not, based on the robot motion model, the acceleration of each robot is obtained, and it is determined whether the acceleration direction of each robot is close to the edge line of the obstacle model. If so, a second motion direction adjustment command is generated, wherein the second motion direction adjustment command is used to apply a second acceleration to the robot.

[0126] If not, no motion direction adjustment command is generated, wherein the first acceleration and the first acceleration are both accelerations in the direction away from the obstacle, and the absolute value of the first acceleration is not lower than the absolute value of the second acceleration;

[0127] S34. For each robot, integrate the first motion direction adjustment command and the second motion direction adjustment command to form a safe detour command.

[0128] In one possible implementation, step S34 of this embodiment integrates the first motion direction adjustment command and the second motion direction adjustment command for each robot to form a safe detour command. This can be, but is not limited to, decomposed into the following steps S341-S343, including:

[0129] S341. For each robot, integrate the first motion direction adjustment command and the second motion direction adjustment command, and obtain an acceleration threshold based on the robot motion model, wherein the acceleration threshold is an acceleration value without direction;

[0130] S342. Correcting the first acceleration and the second acceleration according to the acceleration threshold includes:

[0131] If the absolute value of the first acceleration does not exceed the acceleration threshold, then the first acceleration and the second acceleration are considered as safe accelerations.

[0132] If the absolute value of the first acceleration exceeds the acceleration threshold and the absolute value of the second acceleration does not exceed the acceleration threshold, then the magnitude of the first acceleration is replaced by the acceleration threshold, the first acceleration is corrected to a first safe acceleration, and the first safe acceleration and the second acceleration are used as safe accelerations.

[0133] If the absolute value of the second acceleration exceeds the acceleration threshold, then the acceleration threshold is used to replace the magnitudes of the first acceleration and the second acceleration, the first acceleration is corrected to a first safe acceleration, the second acceleration is corrected to a second safe acceleration, and the first safe acceleration and the second safe acceleration are used as safe accelerations.

[0134] S343. For each robot, the first motion direction adjustment command and the second motion direction adjustment command are corrected using the safety acceleration to obtain the first safe motion direction adjustment command and the second safe motion direction adjustment command, so as to generate the safe detour command through the first safe motion direction adjustment command and the second safe motion direction adjustment command.

[0135] It should be noted that in specific application scenarios, temporary obstacles (such as pedestrians, vehicles, scattered goods, and / or robots experiencing sudden malfunctions) often appear in the site during loading, unloading, and handling. Therefore, the introduction of safety detour instructions enables each robot to respond to these situations in a timely manner and complete safe detours. Specifically, taking a malfunctioning robot as an example, due to equipment aging or communication interruptions, a follower robot in a leader-follower communication structure may stop moving or exhibit uncontrolled movement. When this happens, the adjacent follower robots continuously send out information about the communication interruption and quickly identify the malfunctioning robot as a faulty object. They then generate a real-time obstacle model and promptly generate motion direction adjustment instructions (either a first or second motion direction adjustment instruction) for this obstacle model to ensure the obstacle avoidance capabilities of each follower robot for temporary obstacles.

[0136] Meanwhile, the safe detour command can complement the collision avoidance command. Under the control of the safe detour command, the robot can first detour along the safe movement boundary. During the detour, the speed and attitude of each robot can be adjusted by the collision avoidance command to ensure that it does not collide with obstacles or adjacent robots. This makes the final multi-robot cooperative control command take into account both the smoothness and robustness of obstacle avoidance control.

[0137] S4. Integrate the initial robot speed control command, the collision avoidance command, and the safe detour command to form a multi-robot collaborative control command, and send the multi-robot collaborative control command to each robot according to the leader and follower communication structure.

[0138] In one possible implementation, step S4 of this embodiment integrates the initial robot speed control command, the collision avoidance command, and the safe detour command to form a multi-robot cooperative control command, and sends the multi-robot cooperative control command to each robot according to the leader-follower communication structure. This can be, but is not limited to, decomposed into the following steps S41-S43, including:

[0139] S41. Solve the initial robot speed control command to obtain the initial robot linear velocity control command and the initial robot angular velocity control command;

[0140] S42. Using the collision avoidance command and the safe detour command, the initial robot linear velocity control command and the initial robot angular velocity control command of each robot are modified to generate the actual robot velocity control command of each robot, wherein the actual robot velocity control command includes the actual robot linear velocity control command and the actual robot angular velocity control command.

[0141] S43. Integrate the actual robot speed control commands of each robot into a multi-robot collaborative control command, and send the multi-robot collaborative control command to the leader-follower communication structure, so as to distribute the multi-robot collaborative control command to each robot according to the leader-follower communication structure.

[0142] It should be noted that by combining the initial robot speed control command, the collision avoidance command, and the safe detour command, each robot can complete obstacle avoidance tasks and safely detour while moving along the basic preset path. During the detour and obstacle avoidance process, the relative speed and distance between itself and other robots remain within a safe range, preventing confusion and path crossing, thereby effectively avoiding collisions, improving transportation efficiency and safety, and ensuring safe collaboration among multiple robots.

[0143] like Figure 2 As shown, the second aspect of this embodiment provides a hardware system for implementing the distributed multi-robot cooperative control method described in the first aspect of the embodiment, including:

[0144] The motion and communication structure modeling unit is used to acquire the basic motion data of each robot and the relative relationship data between each robot. Based on the basic motion data of each robot, a robot motion model is established for each robot. Based on the relative relationship data between each robot, a multi-robot communication topology model is established. The output of the robot motion model is the initial robot speed control command, and the output of the multi-robot communication topology model is the leader and follower communication structure between each robot.

[0145] The collision avoidance command generation unit is used to obtain preset collision risk triggering conditions and obstacle information, so as to perform collision risk rejection calculation for each robot according to the robot motion model of each robot, the multi-robot communication topology model, the preset collision risk triggering conditions and the obstacle information, and generate collision avoidance commands based on the calculation results.

[0146] A safe detour instruction generation unit is used to generate safe movement boundaries for each robot based on the obstacle information and the robot motion model, and generate safe detour instructions based on the safe movement boundaries;

[0147] The collaborative control command generation and distribution unit is used to integrate the initial robot speed control command, the collision avoidance command, and the safe detour command to form a multi-robot collaborative control command, and send the multi-robot collaborative control command to each robot according to the leader and follower communication structure.

[0148] The working process, working details and technical effects of the system provided in this embodiment can be found in the first aspect of the embodiment, and will not be repeated here.

[0149] like Figure 3As shown, the third aspect of this embodiment provides an electronic device, including: a memory, a processor, and a transceiver that are sequentially and communicatively connected, wherein the memory is used to store a computer program, the transceiver is used to send and receive messages, and the processor is used to read the computer program and execute the method as described in the first aspect of the embodiment.

[0150] For specific examples, the memory may include, but is not limited to, random access memory (RAM), read-only memory (ROM), flash memory, first-in-first-out (FIFO) memory, and / or first-in-last-out (FILO) memory, etc.; specifically, the processor may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor may be implemented using at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), PLA (Programmable Logic Array). The processor may also include a main processor and a coprocessor. The main processor, also known as the CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state.

[0151] In some embodiments, the processor may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. For example, the processor may not be limited to microprocessors of the STM32F105 series, reduced instruction set computer (RISC) microprocessors, x86 architecture processors, or processors with integrated neural network processing units (NPUs). The transceiver may be, but is not limited to, a Wi-Fi transceiver, a Bluetooth transceiver, a General Packet Radio Service (GPRS) transceiver, a ZigBee (a low-power LAN protocol based on the IEEE 802.15.4 standard) transceiver, a 3G transceiver, a 4G transceiver, and / or a 5G transceiver. Furthermore, the device may also include, but is not limited to, a power module, a display screen, and other necessary components.

[0152] The working process, working details and technical effects of the electronic device provided in this embodiment can be found in the first aspect of the embodiment, and will not be repeated here.

[0153] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A distributed multi-robot cooperative control method, characterized in that, include: Acquire basic motion data of each robot and relative relationship data between each robot. Based on the basic motion data of each robot, establish a robot motion model for each robot. Based on the relative relationship data between each robot, establish a multi-robot communication topology model. The output of the robot motion model is the initial robot speed control command, and the output of the multi-robot communication topology model is the leader and follower communication structure between each robot. Obtain preset collision risk triggering conditions and obstacle information, and perform collision risk rejection calculations for each robot based on the robot motion model, the multi-robot communication topology model, the preset collision risk triggering conditions and the obstacle information, and generate collision avoidance instructions based on the calculation results; Based on the obstacle information and the robot motion model, a safe movement boundary is generated for each robot, and a safe detour instruction is generated based on the safe movement boundary; The initial robot speed control command, the collision avoidance command, and the safe detour command are integrated to form a multi-robot collaborative control command, and the multi-robot collaborative control command is sent to each robot according to the leader and follower communication structure. Specifically, based on the obstacle information and the robot motion model, safe movement boundaries are generated for each robot, and safe detour instructions are generated based on the safe movement boundaries, including: It is determined whether the safe movement boundary of each robot intersects with the edge line of the obstacle model. If so, a first motion direction adjustment command is generated, wherein the first motion direction adjustment command is used to apply a first acceleration to the robot. If not, based on the robot motion model, the acceleration of each robot is obtained, and it is determined whether the acceleration direction of each robot is close to the edge line of the obstacle model. If so, a second motion direction adjustment command is generated, wherein the second motion direction adjustment command is used to apply a second acceleration to the robot. If not, no motion direction adjustment command is generated, wherein the first acceleration and the first acceleration are both accelerations in the direction away from the obstacle, and the absolute value of the first acceleration is not lower than the absolute value of the second acceleration; For each robot, the first motion direction adjustment command and the second motion direction adjustment command are integrated to form a safe detour command; Furthermore, for each robot, the first motion direction adjustment command and the second motion direction adjustment command are integrated to form a safe detour command, including: For each robot, the first motion direction adjustment command and the second motion direction adjustment command are integrated, and an acceleration threshold is obtained based on the robot motion model, wherein the acceleration threshold is an acceleration value without direction. The first acceleration and the second acceleration are corrected according to the acceleration threshold.

2. The distributed multi-robot cooperative control method according to claim 1, characterized in that, Based on the basic motion data of each robot, a robot motion model is established for each robot, including: Acquire basic motion data for each robot, including robot position, robot attitude angle, robot linear velocity, robot angular velocity, and robot measurement point offset; Based on the basic motion data of each robot, the following robot motion model is established: ，（1） in, Vertical position derivative, For the first The lateral position derivative of the robot, For the first The robot's attitude angles For the first The linear velocity of the robot, For the first The angular velocity of the robot For the first The offset of the measurement point of each robot, Represents positive integers; Then, the first The linear velocity of the robot and the angular velocity of the robot for: ， （2） The first The linear velocity of the robot and the angular velocity of the robot Convert to the first The longitudinal speed of the robot and the Lateral velocity of the robot : ，（3） Obtain the preset robot speed, and based on the preset robot speed, the first... The longitudinal speed of the robot and the Lateral velocity of the robot Generate initial robot speed control commands for each robot.

3. The distributed multi-robot cooperative control method according to claim 2, characterized in that, Based on the relative relationship data between the robots, a multi-robot communication topology model is established, including: Acquire relative relationship data between each robot, wherein the relative relationship data includes the number of robots, the communication links between each robot, and the communication relationship between each robot and its neighboring robots; Based on the relative relationship data between the robots, an undirected graph structure is defined. : ，（4） in, Let be a set of points, where each point represents a robot. It is a set of edges, where each edge represents a communication link between robots; Based on the robot motion model of each robot, the communication relationship between each robot and its neighboring robots, and the undirected graph structure. Select the leader robot and define the other robots as follower robots; Based on the communication relationship and undirected graph structure between the leader robot and each of the follower robots This establishes a communication structure for leaders and followers.

4. The distributed multi-robot cooperative control method according to claim 1, characterized in that, Obtain preset collision risk triggering conditions and obstacle information, and perform collision risk rejection calculations for each robot based on the robot motion model, the multi-robot communication topology model, the preset collision risk triggering conditions, and the obstacle information. Generate collision avoidance commands based on the calculation results, including: Acquire preset collision risk triggering conditions and obstacle information, wherein the preset collision risk triggering conditions include the risk triggering distance between adjacent robots. Minimum safe distance between adjacent robots and potential energy gain coefficient The obstacle information includes the potential energy gain between the robot and the obstacle. Risk trigger distance between obstacle robots Minimum safe distance between the robot and the obstacle ; The real-time motion state information of each robot is obtained based on the robot motion model and the multi-robot communication topology model. The real-time motion state information of each robot includes the current robot's position coordinates, current robot's attitude angle, current robot's linear velocity, and current robot's angular velocity. Based on the real-time motion state information of each robot and the obstacle information, the distance between the current robot and its neighboring robots is obtained. The current distance between the robot and the obstacle The line-of-sight angle of adjacent robots relative to the current robot The current robot's line-of-sight angle relative to adjacent robots. The line-of-sight angle of the obstacle relative to the current robot and the potential energy gain between the current robot and its neighboring robots ; Low-trigger potential energy is calculated for each robot, and the collision avoidance potential energy of each robot is obtained, so as to generate collision avoidance commands based on the collision avoidance potential energy of each robot.

5. The distributed multi-robot cooperative control method according to claim 4, characterized in that, Low-trigger potential energy is calculated for each robot, and the collision avoidance potential energy of each robot is obtained. Collision avoidance commands are then generated based on the collision avoidance potential energy of each robot, including: Determine the distance between the current robot and its neighboring robots. Is it within the risk trigger distance between adjacent robots? Minimum safe distance between adjacent robots If so, the collision avoidance potential energy between the current robot and its neighboring robots is calculated using the following formula. : ，（5） If not, then determine the distance between the current robot and its neighboring robots. Is it not less than the risk trigger distance between adjacent robots? If yes, then no collision avoidance command is generated; otherwise, a first repulsion avoidance command is generated for the current robot and the adjacent robot. The first repulsion avoidance command is used to control the current robot and the adjacent robot to move away from each other. Determine the distance between the robot and the obstacle. Is it within the risk trigger distance between obstacle robots? Minimum safe distance between the robot and the obstacle If so, the collision avoidance potential energy between the robot and the obstacle is calculated using the following formula. : ，（6） If not, determine the distance between the robot and the obstacle. Is it not less than the risk trigger distance between obstacle robots? If yes, then no collision avoidance command is generated; otherwise, a second repulsion avoidance command is generated for the current robot. The second repulsion avoidance command is used to control the current robot to move away from the obstacle. Furthermore, in the above formulas (5) and (6), This indicates that the current robot is the first in the leader-follower communication structure. A robot, This indicates that the current robot's neighboring robots are the first robots in the leader-follower communication structure. A robot, Indicates an obstacle. This represents the velocity coupling coefficient between the current robot and its neighboring robots. The velocity coupling coefficient between the robot and the obstacle is: ，（7） in, This represents the current linear velocity of the robot. This represents the linear velocity of the current robot's neighboring robots. For absolute value operators, The base of the natural logarithm; Based on the collision avoidance potential energy between the current robot and neighboring robots And the collision avoidance potential energy between the robot and the obstacle. Generate avoidance commands, which are used to control the current robot to avoid collisions with adjacent robots and obstacles; The first repulsion and avoidance commands, the second repulsion and avoidance commands, and the avoidance commands of each robot are integrated to form a collision avoidance command.

6. The distributed multi-robot cooperative control method according to claim 1, characterized in that, Based on the obstacle information and the robot motion model, safe movement boundaries are generated for each robot, and safe detour instructions are generated based on the safe movement boundaries, including: Based on the obstacle information, an obstacle model is constructed to form an obstacle model. The edge of the obstacle model's projection on the ground is used as the obstacle model's edge line. The obstacle model is a hemisphere with the obstacle's center as its center, and the obstacle model's edge line is a circle with the obstacle's center as its center and the distance between the obstacle's most prominent point and the obstacle's center as its radius. Obtain a preset safe detour distance, and based on the robot motion model, obtain the robot position of each robot. Using the robot position of each robot as the center and the preset safe detour distance as the radius, generate a safe motion boundary for each robot.

7. The distributed multi-robot cooperative control method according to claim 6, characterized in that, For each robot, the first acceleration and the second acceleration are corrected according to the acceleration threshold, including: If the absolute value of the first acceleration does not exceed the acceleration threshold, then the first acceleration and the second acceleration are considered as safe accelerations. If the absolute value of the first acceleration exceeds the acceleration threshold and the absolute value of the second acceleration does not exceed the acceleration threshold, then the magnitude of the first acceleration is replaced by the acceleration threshold, the first acceleration is corrected to a first safe acceleration, and the first safe acceleration and the second acceleration are used as safe accelerations. If the absolute value of the second acceleration exceeds the acceleration threshold, then the acceleration threshold is used to replace the magnitudes of the first acceleration and the second acceleration, the first acceleration is corrected to a first safe acceleration, the second acceleration is corrected to a second safe acceleration, and the first safe acceleration and the second safe acceleration are used as safe accelerations. For each robot, the first motion direction adjustment command and the second motion direction adjustment command are corrected using the safety acceleration to obtain the first safe motion direction adjustment command and the second safe motion direction adjustment command, so as to generate the safe detour command through the first safe motion direction adjustment command and the second safe motion direction adjustment command.

8. The distributed multi-robot cooperative control method according to claim 1, characterized in that, The initial robot speed control command, the collision avoidance command, and the safe detour command are integrated to form a multi-robot cooperative control command. This multi-robot cooperative control command is then sent to each robot according to the leader-follower communication structure, including: The initial robot speed control command is calculated to obtain the initial robot linear velocity control command and the initial robot angular velocity control command; Using the collision avoidance command and the safe detour command, the initial robot linear velocity control command and the initial robot angular velocity control command of each robot are modified to generate the actual robot velocity control command of each robot, wherein the actual robot velocity control command includes the actual robot linear velocity control command and the actual robot angular velocity control command. The actual robot speed control commands of each robot are integrated into multi-robot collaborative control commands, and the multi-robot collaborative control commands are sent to the leader-follower communication structure so that the multi-robot collaborative control commands are distributed to each robot according to the leader-follower communication structure.

9. A distributed multi-robot cooperative control system, used to implement the distributed multi-robot cooperative control method as described in any one of claims 1-8, characterized in that, include: The motion and communication structure modeling unit is used to acquire the basic motion data of each robot and the relative relationship data between each robot. Based on the basic motion data of each robot, a robot motion model is established for each robot. Based on the relative relationship data between each robot, a multi-robot communication topology model is established. The output of the robot motion model is the initial robot speed control command, and the output of the multi-robot communication topology model is the leader and follower communication structure between each robot. The collision avoidance command generation unit is used to obtain preset collision risk triggering conditions and obstacle information, so as to perform collision risk rejection calculation for each robot according to the robot motion model of each robot, the multi-robot communication topology model, the preset collision risk triggering conditions and the obstacle information, and generate collision avoidance commands based on the calculation results. A safe detour instruction generation unit is used to generate safe movement boundaries for each robot based on the obstacle information and the robot motion model, and generate safe detour instructions based on the safe movement boundaries; The collaborative control command generation and distribution unit is used to integrate the initial robot speed control command, the collision avoidance command, and the safe detour command to form a multi-robot collaborative control command, and send the multi-robot collaborative control command to each robot according to the leader and follower communication structure.

10. An electronic device, characterized in that, The system includes a memory, a processor, and a transceiver that are sequentially and communicatively connected. The memory is used to store a computer program, the transceiver is used to send and receive messages, and the processor is used to read the computer program and execute the distributed multi-robot cooperative control method as described in any one of claims 1 to 8.

Images