Mobile Body Formation Control for Leader Rotation Reorganization
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Solution Overview
Problem
Existing techniques for controlling multiple mobile bodies in a formation are unable to efficiently reorganize the formation when a change in direction is required.
Innovation Solution
A control device that includes a storage for formation information and a controller to switch between convoy and rotation modes, allowing a leader mobile body to move to a new position and reorganize the formation, with followers rotating to align with the new leader.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple mobile bodies travel in a formation with a fixed leader, then the formation structure is stable and easy to control, but the formation cannot be reorganized when directional changes are required
Solution Approach 1:
The patent implements dynamic role assignment where mobile bodies can transition between leader and follower roles based on operational needs. The controller dynamically adjusts the formation structure by selecting a new leader from among followers when directional changes are required, enabling the formation to adapt its structure rather than maintaining a fixed configuration. This dynamic reorganization allows the same control system to handle both stable formation travel and flexible reconfiguration scenarios.
2Adaptability or versatility
If the leader mobile body moves to a new position to change direction, then the formation can adapt to new travel directions, but the travel path length increases
Solution Approach 1:
The patent applies preliminary action by having follower mobile bodies pre-position themselves at optimal locations before the leader moves to its new position. The controller calculates and commands followers to move to predetermined positions that minimize the overall travel path. This preparatory positioning allows the formation to transition to a new direction more efficiently, reducing the total distance traveled compared to sequential repositioning.
Solution Approach 2:
The patent utilizes multi-dimensional coordination by allowing followers to reposition not only in the forward direction but also in lateral and depth dimensions. This three-dimensional repositioning strategy enables the formation to optimize its configuration for the new travel direction, selecting positions that minimize the overall path length while maintaining formation integrity. The controller coordinates movements across multiple spatial dimensions simultaneously.
3Device complexity
If followers perform only rotation while leader performs multiple traveling types, then the control system is simplified, but the formation reorganization efficiency is reduced
Solution Approach 1:
The patent segments the control functions by assigning different capability sets to leaders and followers. Leaders are equipped with full traveling capabilities (forward, backward, rotation, lateral movement) while followers are restricted to rotation and positional adjustment. This segmentation simplifies the overall control architecture by creating clear functional divisions, while the leader's comprehensive capabilities compensate for followers' limitations, maintaining efficient reorganization throughput.
Data Source
AI summary
A control device includes a controller that controls traveling of a first mobile body in a travel mode according to formation information, the travel mode including a convoy mode and a rotation mode. The convoy mode is a travel mode in which mobile bodies travel in a formation. The rotation mode is a travel mode that permits a leader to perform any type of traveling and permits a follower to perform only a rotation. When the formation information indicates that a first mobile body is the leader, the controller performs formation reorganization by causing all followers included in a formation to form, after the first mobile body moves from a lead position in the formation to an other position, a new formation in which the first mobile body that has moved to the other position is a new lead mobile body.