63 results about "Swarm robotics" patented technology

The invention provides a distributed group robot cooperative clustering algorithm based on an improved gene regulation network. Through embedding a diamond mesh distribution equation and a trajectoryfollowing equation in a gene regulation network model based on the Turing reaction diffusion mechanism, the moving vector speed of each robot is controlled, thus each robot whose initial state is in random distribution always gathers at a preset cluster trajectory position at a time t, the robots are arranged in a self-organized way to be in a diamond mesh distribution and can avoid obstacles in adynamic environment and repair formation by themselves. Parameter values in the improved gene regulation network are given by an NSGA II optimization algorithm. The distributed group robot cooperative clustering algorithm has the advantages of low computational complexity and good expansibility, for any robot, only the collection of the location information of a neighboring robot is needed, so arequired communication range is small, and the communication burden is effectively reduced. In addition, if some robots fail in operation, a system can still work normally, and the algorithm has goodrobustness and a great application prospect.

The invention relates to the technical field of robots, more particularly to a cooperative motion method for a robot cluster in an obstacle scene. The method provided by the invention is used for enabling multiple robots to realize formation transformation, dynamic and static obstacle avoidance and cooperative motion in the obstacle scene. The method defines the cooperative control of the robot cluster in a complex environment as a distributed model predictive control problem. Each robot solves an optimization equation independently based on the information of local neighbors, which has betterrobustness and flexibility. At the same time, the method proposes the concept of a formation diagram, and uses a directed diagram to represent the robot formation. Under the premise of ensuring the connectivity of the diagram, local transformation of the desired formation can be realized by changing the edges and weights of the formation, and at the same time, the connectivity and the flexibilityof the cluster can be ensured. Besides, the method provided by the invention has a hierarchical structure. By adopting the hierarchical structure, the coupling between modules can be reduced, and algorithm design and expansion can be facilitated.