Robot Formation Control Using Intermediate Position Exchange
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Solution Overview
Problem
There is no effective technique for performing high-speed formation transformation of control objects with determined target positions in a space-saving manner, particularly in environments with obstacles, where each control object moves independently while maintaining contact with others.
Innovation Solution
A control device and method that involves defining control object units as Hamilton cycles, alternating first and second type units, and using movement planning and exchange units to move control objects through intermediate positions, allowing for high-speed transformation without requiring excessive space.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If formation transformation is performed by plane shearing operation with heterogeneous robots and full resolution target positions (NPL 3), then manufacturing precision of target position is improved, but volume of space required increases
Solution Approach 1:
The formation transformation is divided into two distinct phases: expansion phase and retraction phase. During the expansion phase, robots move to intermediate positions with lower precision requirements. During the retraction phase, robots move to final target positions with high precision requirements. This segmentation allows the system to achieve high target position precision while using less total space, as the intermediate positions require fewer resources than a single direct high-precision transformation would demand.
Solution Approach 2:
The patent performs preliminary positioning to intermediate positions before final target position assignment. Robots first expand to intermediate positions where they can be positioned with relaxed precision constraints, then subsequently move to their final target positions with high precision. This preliminary action to intermediate positions reduces the overall space required compared to direct high-precision transformation.
2Manufacturing precision
If formation transformation is performed with determined target positions for each robot (heterogeneous control), then manufacturing precision is improved, but transformation time increases
Solution Approach 1:
The transformation process is segmented into expansion and retraction phases, each with parallel movement planning. During the expansion phase, multiple robots can simultaneously move to intermediate positions. During the retraction phase, multiple robots simultaneously move to their final target positions. This segmentation with parallel execution reduces overall transformation time while maintaining high precision target position determination.
Solution Approach 2:
The patent ensures continuous useful action by maintaining parallel movement planning throughout both expansion and retraction phases. Multiple robots execute their movements simultaneously rather than sequentially, maximizing the utilization of all robots throughout the transformation process. This continuity reduces transformation time while preserving high precision target position assignment.
3Manufacturing precision
If robots move independently to target positions (heterogeneous formation control), then manufacturing precision is improved, but device complexity increases
Solution Approach 1:
The control system is segmented into two distinct control modules: expansion phase controller and retraction phase controller. Each module handles a specific phase of the transformation, simplifying the overall control architecture. The expansion controller manages movement to intermediate positions, while the retraction controller manages movement to final target positions. This segmentation reduces device complexity compared to a single complex controller handling all aspects of heterogeneous formation control.
Solution Approach 2:
The patent introduces intermediate positions as intermediary states between initial and final configurations. These intermediate positions serve as mediators that simplify the control problem by breaking down the complex direct transformation into two simpler sequential transformations. The intermediate positions reduce the computational complexity of determining direct target positions while maintaining the ability to achieve precise final configurations.
Data Source
AI summary
On the assumption that a combined control object unit and a second type control object unit are alternately disposed along a Hamilton cycle at intermediate positions, and intermediate positions include an intermediate position M before exchange and an intermediate position M′ after exchange, a control device includes a first movement planning unit 1 and a first movement unit 2 that move each control object at an initial position S to an intermediate position M before exchange in control object units, a second movement planning unit 3 that creates a second movement plan for moving each control object assumed to be at a target position G to an intermediate position M′ after exchange in control object units, and an intermediate position exchange unit 4 that moves each control object at the intermediate position M before exchange to a movement destination of each control object determined by the second movement plan among intermediate positions M′ after exchange.