Coach-Driven Multi-Robot Group Control for Real-Time Obstacle Avoidance
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Solution Overview
Problem
Conventional multi-robot cooperative operation systems face challenges in planning optimal obstacle avoidance paths in real time due to high data calculation requirements and slow response times, leading to issues like robot freezing and collisions during tasks like obstacle avoidance and collaborative cleaning.
Innovation Solution
A coach apparatus that divides action robots into groups, reduces state space data, and uses a reduced state space model to train a cooperative model, selecting strategies to optimize cooperative operation behaviors and response times by integrating state space data and goal information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If conventional state-action control is used for multi-robot cooperative operation, then robots can perform basic tasks, but the data calculation amount is too large to plan optimal obstacle avoidance paths in real time
Solution Approach 1:
The patent divides the multi-robot system into multiple action groups based on spatial distribution and task requirements. Each group is trained separately with reduced state space, transforming the intractable full-system problem into multiple manageable sub-problems that can be solved in real time
Solution Approach 2:
The patent extracts and removes redundant state space data from the training process by identifying and eliminating unnecessary state variables. This reduction in state space dimensionality directly decreases the data calculation amount while preserving essential cooperative operation capabilities
2Reliability
If full state space data is used for training cooperative model, then comprehensive cooperative behavior can be achieved, but training time and calculation complexity increase significantly
Solution Approach 1:
The patent segments the training process into multiple stages: first training individual robots, then training action groups with reduced state space, and finally integrating them into the full cooperative system. This staged approach reduces overall training time while maintaining comprehensive cooperative capability
Solution Approach 2:
The patent performs preliminary training of individual robots and action groups before full system integration. This preliminary action prepares the components in advance with reduced complexity, enabling faster final system training and deployment
3Productivity
If conventional cooperative control is used, then robots can operate together, but optimal obstacle avoidance paths cannot be planned in real time leading to robot freezing
Solution Approach 1:
The patent divides robots into action groups that can independently plan and execute obstacle avoidance paths based on their local reduced state space. This segmentation enables real-time path planning at the group level, preventing system-wide freezing while maintaining cooperative efficiency
Solution Approach 2:
The patent implements dynamic action group formation and dissolution based on real-time task requirements and robot positions. This dynamic adjustment allows the system to adaptively optimize cooperative operation efficiency for different scenarios while maintaining real-time response capability
Data Source
AI summary
A coach apparatus and a cooperative operation controlling method for a coach-driven multi-robot cooperative operation system are provided. The coach apparatus connects with a plurality of action robots and receives state space data from each action robot. The coach apparatus divides the action robots into a plurality of action group. The coach apparatus reduces the state space data of the action robots in each action group to generate reduced state space data of each action group, and trains and builds a cooperative model based on the reduced state space data. In addition, for each action group, the coach apparatus selects a group strategy based on the reduced state space data, and transmits the cooperative model and the group strategy to the action robots in the action group to make them carry out an action mission according to the cooperative model and the group strategy.