Anti-interference convergence method for agricultural robot cluster based on interaction link dynamics

Abstract

The present application relates to the technical field of agricultural robot control, and particularly provides an anti-interference convergence method for an agricultural robot cluster based on interaction link dynamics. The method comprises obtaining state information and speed information of each interaction link, determining an interaction topology structure and a connection weight matrix between the interaction links; constructing an edge Laplacian matrix according to the connection weight matrix of the interaction links, and determining a control gain based on all non-zero eigenvalues of the edge Laplacian matrix; determining a control amount of each interaction link according to the state information and speed information of each interaction link, the state information and speed information of a neighbor interaction link, the control gain, and a random interference term; and controlling the state and speed of the corresponding interaction link according to the control amount of each interaction link. The method effectively suppresses the influence of external interference on the link state, guarantees the convergence of the link state, and improves the robustness and cooperative control ability in a complex airspace environment.

Description

Technical Field

[0001] This invention relates to the field of agricultural robot control technology, and in particular to an anti-interference convergence method for agricultural robot swarms based on interactive link dynamics. Background Technology

[0002] Agricultural robot swarm systems consist of multiple agricultural robots (such as harvesting robots, transport robots, and inspection robots) that collaborate to complete complex agricultural tasks, offering advantages such as high efficiency, robustness, and adaptability. In agricultural robot swarms, the stability and convergence of the interaction links are crucial for achieving collaborative control. However, in real-world farmland environments, the interaction links between robots are often affected by external interference (such as obstruction by field obstacles and positioning errors caused by slippery soil), communication fading, and dynamic changes in tasks, leading to fluctuations in link status and impacting the overall collaborative performance of the swarm.

[0003] Most existing technologies focus on the position or velocity control of individual agricultural robots, with less emphasis on the dynamic behavior and convergence of the interaction links. Furthermore, traditional control methods often struggle to guarantee the convergence of link states and the robustness of the system when faced with weakly connected interactive topologies or random disturbances. Summary of the Invention

[0004] In view of this, the present invention provides an anti-interference convergence method for agricultural robot swarms based on interactive link dynamics, which can effectively suppress the influence of external interference on the link state, ensure the convergence of the link state, and improve robustness and cooperative control capabilities in complex airspace environments.

[0005] In a first aspect, the present invention provides an anti-interference convergence method for agricultural robot swarms based on interactive link dynamics, the method comprising:

[0006] Step 1: Obtain the status and speed information of each interaction link in the agricultural robot cluster, and determine the interaction topology and connection weight matrix between the interaction links of the agricultural robot cluster. Step 2: Construct the edge Laplacian matrix based on the connection weight matrix of the interaction link. The control gain is determined based on all non-zero eigenvalues ​​of the edge Laplacian matrix. Step 3: Based on the status and speed information of each interactive link, the status and speed information of neighboring interactive links, the control gain, and in conjunction with the random interference term, determine the control quantity of each interactive link; Step 4: Control the state and speed of the corresponding interactive link according to the control quantity of each interactive link.

[0007] Optionally, step 1 includes: In an agricultural robot swarm, if there is bidirectional information reachability between any two agricultural robots, the interaction topology of the agricultural robot swarm is called strongly connected; conversely, if information exchange between any two agricultural robots is not possible, the interaction topology of the agricultural robot swarm is called weakly connected. For any two different interaction links, the neighbor relationship between them is defined as the set of links that share the same agricultural robot; a connection weight matrix between interaction links is constructed based on the current neighbor relationship. The rows and columns of the connection weight matrix correspond to the interaction links, and the values ​​of its elements are determined based on whether there is a neighbor relationship.

[0008] Optionally, in step 2, the gain is controlled. The following conditions must be met: ; in, Represents all non-zero eigenvalues ​​of the edge Laplacian matrix. and Representing non-zero eigenvalues The real and imaginary parts.

[0009] Optionally, in step 3, the control quantity for each interaction link is determined, and its expression is: ; in, Indicates the interaction link The control input, express The set of neighbor interaction links, Indicates the interaction link and The connection weights, Indicates and The relevant normalization parameters, Indicates control gain. This represents random interference.

[0010] Optionally, step 4 includes: ; in, Indicates the interaction link state, Indicates the interaction link The speed.

[0011] Secondly, the present invention provides an anti-interference convergence system for agricultural robot swarms based on interactive link dynamics. The system is used to implement the anti-interference convergence method for agricultural robot swarms based on interactive link dynamics in the first aspect or any possible implementation thereof. The system includes: The first acquisition module is used to acquire the status information and speed information of each interaction link of the agricultural robot cluster, and to determine the interaction topology and connection weight matrix between the interaction links of the agricultural robot cluster. The second acquisition module is used to construct an edge Laplacian matrix based on the connection weight matrix of the interaction link, and to determine the control gain based on the eigenvalues ​​of the edge Laplacian matrix. The third acquisition module is used to determine the control quantity of each interactive link based on the status and speed information of each interactive link, the status and speed information of neighboring interactive links, the control gain, and in combination with random interference terms. The control module is used to control the state and speed of the corresponding interactive link according to the control quantity of each interactive link.

[0012] Thirdly, embodiments of the present invention provide a computer-readable storage medium comprising a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to execute the anti-interference convergence method for agricultural robot swarms based on interactive link dynamics, as described in the first aspect or any possible implementation thereof.

[0013] Fourthly, embodiments of the present invention provide an electronic device, including: one or more processors; a memory; and one or more computer programs, wherein the one or more computer programs are stored in the memory, and the one or more computer programs include instructions that, when executed by the device, cause the device to perform the agricultural robot swarm anti-interference convergence method based on interactive link dynamics in the first aspect or any possible implementation of the first aspect.

[0014] The technical solution provided by this invention includes the following steps: acquiring the state and speed information of each interactive link in an agricultural robot cluster; determining the interactive topology and connection weight matrix between the interactive links in the agricultural robot cluster; constructing an edge Laplace matrix based on the connection weight matrix of the interactive links; determining the control gain based on all non-zero eigenvalues ​​of the edge Laplace matrix; determining the control quantity of each interactive link based on the state and speed information of each interactive link, the state and speed information of neighboring interactive links, the control gain, and in conjunction with a random disturbance term; and controlling the state and speed of the corresponding interactive link based on the control quantity of each interactive link. This method effectively suppresses the influence of external disturbances on the link state, ensures the convergence of the link state, and improves robustness and cooperative control capabilities in complex spatial environments. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are 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.

[0016] Figure 1 A flowchart of an anti-interference convergence method for agricultural robot swarms based on interactive link dynamics provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the agricultural robot cluster topology provided in an embodiment of the present invention; Figure 3 A schematic diagram of an anti-interference convergence system for an agricultural robot swarm based on interactive link dynamics provided in an embodiment of the present invention; Figure 4 This is a simulation diagram of the convergence of the link state of an agricultural robot cluster provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms “a,” “the,” and “the” used in the embodiments of this invention are also intended to include the plural forms unless the context clearly indicates otherwise.

[0019] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0020] Depending on the context, the word "if" as used here can be interpreted as "when," "when," "in response to determination," or "in response to detection." Similarly, depending on the context, the phrase "if determination" or "if detection (of the stated condition or event)" can be interpreted as "when determination," "in response to determination," "when detection (of the stated condition or event)," or "in response to detection (of the stated condition or event)."

[0021] Figure 1 A flowchart of an anti-interference convergence method for agricultural robot swarms based on interactive link dynamics provided in an embodiment of the present invention is shown below. Figure 1 As shown, the method includes: Step 1: Obtain the status and speed information of each interaction link in the agricultural robot cluster, and determine the interaction topology and connection weight matrix between the interaction links of the agricultural robot cluster.

[0022] In this embodiment of the invention, step 1 includes: In an agricultural robot swarm, if there is bidirectional information reachability between any two agricultural robots, the interaction topology of the agricultural robot swarm is called strongly connected; conversely, if information exchange between any two agricultural robots is not possible, the interaction topology of the agricultural robot swarm is called weakly connected. For any two different interaction links, the neighbor relationship between them is defined as the set of links that share the same agricultural robot; a connection weight matrix between interaction links is constructed based on the current neighbor relationship. The rows and columns of the connection weight matrix correspond to the interaction links, and the values ​​of its elements are determined based on whether there is a neighbor relationship.

[0023] In this embodiment of the invention, any two different interaction links that share the same agricultural robot are defined as neighbor interaction links, such as... Figure 2 As shown, to Indicating agricultural robots, to Indicates the interaction link; interaction link and yes The neighbor interaction link, and , , , no The neighbor interaction links. Specifically, sensors installed on the agricultural robot can obtain the current state and speed of its own and its neighbor interaction links. Furthermore, by... Figure 2 It can be seen that, and Same direction and If the directions are opposite, then the elements corresponding to the connection weight matrix of the interactive link are: , .

[0024] Step 2: Construct the edge Laplacian matrix based on the connection weight matrix of the interaction link. The control gain is determined based on all non-zero eigenvalues ​​of the edge Laplacian matrix.

[0025] In this embodiment of the invention, the control gain in step 2 The following conditions must be met: ; in, Represents all non-zero eigenvalues ​​of the edge Laplacian matrix. and Representing non-zero eigenvalues The real and imaginary parts.

[0026] In this embodiment of the invention, by analyzing the eigenvalues ​​of the system matrix, the following is obtained: The stability threshold is approximately To ensure system stability and good convergence performance, the following was selected: (i.e., threshold) times).

[0027] Step 3: Determine the control quantity for each interactive link based on the status and speed information of each interactive link, the status and speed information of neighboring interactive links, the control gain, and in conjunction with the random interference term.

[0028] In this embodiment of the invention, the control quantity for each interaction link is determined in step 3, and its expression is: ; in, Indicates the interaction link The control input, express The set of neighbor interaction links, Indicates the interaction link and The connection weights, Indicates and The relevant normalization parameters, Indicates control gain. This represents random interference.

[0029] Step 4: Control the state and speed of the corresponding interactive link according to the control quantity of each interactive link.

[0030] In this embodiment of the invention, step 4 includes: ; in, Indicates the interaction link state, Indicates the interaction link The speed.

[0031] This invention provides an anti-interference convergence system for agricultural robot swarms based on interactive link dynamics. This system is used to implement the aforementioned anti-interference convergence method for agricultural robot swarms based on interactive link dynamics, such as... Figure 3 As shown, the system includes: The first acquisition module is used to acquire the status information and speed information of each interaction link of the agricultural robot cluster, and to determine the interaction topology and connection weight matrix between the interaction links of the agricultural robot cluster. The second acquisition module is used to construct an edge Laplacian matrix based on the connection weight matrix of the interaction link, and to determine the control gain based on the eigenvalues ​​of the edge Laplacian matrix. The third acquisition module is used to determine the control quantity of each interactive link based on the status and speed information of each interactive link, the status and speed information of neighboring interactive links, the control gain, and in combination with random interference terms. The control module is used to control the state and speed of the corresponding interactive link according to the control quantity of each interactive link.

[0032] In this embodiment of the invention, the simulation results are as follows: Figure 4 As shown in the figure, the speed changes of each link are quite different at the initial moment. After about 5 seconds, the speeds of the 7 interactive links gradually converge. This verifies that the method can effectively suppress external interference and achieve anti-interference convergence of the interactive links of the agricultural robot cluster.

[0033] The technical solution provided by this invention includes the following steps: acquiring the state and speed information of each interactive link in an agricultural robot cluster; determining the interactive topology and connection weight matrix between the interactive links in the agricultural robot cluster; constructing an edge Laplace matrix based on the connection weight matrix of the interactive links; determining the control gain based on all non-zero eigenvalues ​​of the edge Laplace matrix; determining the control quantity of each interactive link based on the state and speed information of each interactive link, the state and speed information of neighboring interactive links, the control gain, and in conjunction with random disturbance terms; and controlling the state and speed of the corresponding interactive link based on the control quantity of each interactive link. This method, starting from the interactive link level, constructs an edge Laplace matrix and designs a control gain, effectively suppressing the influence of external disturbances on the link state, ensuring the convergence of the link state, and improving robustness and cooperative control capabilities in complex spatial environments.

[0034] The various steps in the embodiments of the present invention can be performed by an electronic device. This electronic device includes, but is not limited to, tablet computers, portable PCs, and desktop computers.

[0035] This invention provides a computer-readable storage medium including a stored program, wherein, when the program is running, it controls the electronic device containing the computer-readable storage medium to execute the above-described embodiment of the anti-interference convergence method for agricultural robot swarms based on interactive link dynamics.

[0036] Figure 5 A schematic diagram of an electronic device provided in an embodiment of the present invention, such as... Figure 5 As shown, the electronic device 21 includes a processor 211, a memory 212, and a computer program 213 stored in the memory 212 and executable on the processor 211. When the computer program 213 is executed by the processor 211, it implements the anti-interference convergence method for agricultural robot clusters based on interactive link dynamics in the embodiment. To avoid repetition, it will not be described in detail here.

[0037] Electronic device 21 includes, but is not limited to, processor 211 and memory 212. Those skilled in the art will understand that... Figure 5 This is merely an example of electronic device 21 and does not constitute a limitation on electronic device 21. It may include more or fewer components than shown, or combine certain components, or different components. For example, electronic device may also include input / output devices, network access devices, buses, etc.

[0038] The processor 211 may be a Central Processing Unit (CPU), or 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. A general-purpose processor may be a microprocessor or any conventional processor.

[0039] The memory 212 can be an internal storage unit of the electronic device 21, such as a hard disk or RAM of the electronic device 21. The memory 212 can also be an external storage device of the electronic device 21, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, or FlashCard equipped on the electronic device 21. Furthermore, the memory 212 can include both internal and external storage units of the electronic device 21. The memory 212 is used to store computer programs and other programs and data required by network devices. The memory 212 can also be used to temporarily store data that has been output or will be output.

[0040] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0041] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for anti-interference convergence of agricultural robot swarms based on interactive link dynamics, characterized in that, The method includes: Step 1: Obtain the status and speed information of each interaction link in the agricultural robot cluster, and determine the interaction topology and connection weight matrix between the interaction links of the agricultural robot cluster. Step 2: Construct the edge Laplacian matrix based on the connection weight matrix of the interaction link. The control gain is determined based on all non-zero eigenvalues ​​of the edge Laplacian matrix. Step 3: Based on the status and speed information of each interactive link, the status and speed information of neighboring interactive links, the control gain, and in conjunction with the random interference term, determine the control quantity of each interactive link; Step 4: Control the state and speed of the corresponding interactive link according to the control quantity of each interactive link.

2. The method according to claim 1, characterized in that, Step 1 includes: In an agricultural robot swarm, if there is bidirectional information reachability between any two agricultural robots, the interaction topology of the agricultural robot swarm is called strongly connected; conversely, if information exchange between any two agricultural robots is not possible, the interaction topology of the agricultural robot swarm is called weakly connected. For any two different interaction links, the neighbor relationship between them is defined as the set of links that share the same agricultural robot; a connection weight matrix between interaction links is constructed based on the current neighbor relationship. The rows and columns of the connection weight matrix correspond to the interaction links, and the values ​​of its elements are determined based on whether there is a neighbor relationship.

3. The method according to claim 2, characterized in that, Controlling the gain in step 2 The following conditions must be met: ； in, Represents all non-zero eigenvalues ​​of the edge Laplacian matrix. and Representing non-zero eigenvalues The real and imaginary parts.

4. The method according to claim 3, characterized in that, In step 3, the control quantity for each interaction link is determined, and its expression is as follows: ； in, Indicates the interaction link The control input, express The set of neighbor interaction links, Indicates the interaction link and The connection weights, Indicates and The relevant normalization parameters, Indicates control gain. This represents random interference.

5. The method according to claim 4, characterized in that, Step 4 includes: ； in, Indicates the interaction link state, Indicates the interaction link The speed.

6. An anti-interference convergence system for agricultural robot swarms based on interactive link dynamics, characterized in that, The system is used to implement the anti-interference convergence method for agricultural robot swarms based on interactive link dynamics as described in claim 1, and the system includes: The first acquisition module is used to acquire the status information and speed information of each interaction link of the agricultural robot cluster, and to determine the interaction topology and connection weight matrix between the interaction links of the agricultural robot cluster. The second acquisition module is used to construct an edge Laplacian matrix based on the connection weight matrix of the interaction link, and to determine the control gain based on the eigenvalues ​​of the edge Laplacian matrix. The third acquisition module is used to determine the control quantity of each interactive link based on the status and speed information of each interactive link, the status and speed information of neighboring interactive links, the control gain, and in combination with random interference terms. The control module is used to control the state and speed of the corresponding interactive link according to the control quantity of each interactive link.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform the anti-interference convergence method for agricultural robot swarms based on interactive link dynamics as described in any one of claims 1 to 5.

8. An electronic device, characterized in that, include: One or more processors; Memory; And one or more computer programs, wherein the one or more computer programs are stored in the memory, the one or more computer programs including instructions that, when executed by the device, cause the device to perform the anti-interference convergence method for agricultural robot swarms based on interactive link dynamics as described in any one of claims 1 to 5.

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