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Multi-agent robot cooperative control method based on artificial physics method

A multi-agent, collaborative control technology, applied in non-electric variable control, position/direction control, control/regulation system and other directions, can solve the problem of maintaining formation, no multi-robot moving body, and no multi-robot moving body formation control And other issues

Inactive Publication Date: 2010-09-08
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] At present, the collaborative control of robots is in the stage of simulation research, and most of them use methods such as artificial potential field and A*, but there is no formation control of multi-robot moving bodies, and there is no method to keep multi-robot moving bodies in formation

Method used

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  • Multi-agent robot cooperative control method based on artificial physics method
  • Multi-agent robot cooperative control method based on artificial physics method
  • Multi-agent robot cooperative control method based on artificial physics method

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Experimental program
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Effect test

Embodiment 1

[0074] According to content of the invention, the present invention is further described with examples below:

[0075] Step (1): Based on the artificial physics method, the vector force field for the interaction between the intelligent body and the robot is established;

[0076] In the framework of artificial physics (AP), virtual physical forces drive an agent-robot swarm system to achieve a desired state. The state is a shape that minimizes the potential energy of the whole system, and the system behaves as molecular dynamics Among them, F stands for force, m stands for mass, and a stands for acceleration.

[0077] Define force rule: F=Gm i m j / r p . where F is the magnitude of the force between the agent robot i and the agent robot j, m i 、m j is the mass of the i and j agents, r is the distance between the two agents, G is a parameter representing the clustering characteristics, p is an adjustable parameter, the larger p is, the greater the influence of F is on t...

Embodiment 2

[0108] Step (1): Based on the artificial physics method, the vector force field for the interaction between the intelligent body and the robot is established;

[0109] In the framework of artificial physics (AP), virtual physical forces drive an agent-robot swarm system to achieve a desired state. The state is a shape that minimizes the potential energy of the whole system, and the system behaves as molecular dynamics Among them, F stands for force, m stands for mass, and a stands for acceleration.

[0110] Define force rule: F=Gm i m j / r p . where F is the magnitude of the force between the agent robot i and the agent robot j, m i 、m j is the mass of the i and j agents, r is the distance between the two agents, G is a parameter representing the clustering characteristics, p is an adjustable parameter, the larger p is, the greater the influence of F is on the change of r. R is the threshold distance, if r≤R, the force is repulsion, if r>R, the force is attraction. E...

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Abstract

The invention provides a multi-agent robot cooperative control method based on an artificial physics method. The method is implemented in a distributed manner based on multi-agent robots. Each agent robot is provided with one or more sensors, is used for acquiring and fusing distributed data and is driven by the information processing results. The method comprises the following steps: (1) setting up vector force fields interacting among the agent robots based on the artificial physics method; (2) determining the movement velocity and directions of the agent robots by solving the resultant force of the agent robots and suppressing the transient state of mode conversion by a four-point smoothing method; and (3) realizing obstacle avoidance of the agent robots based on a fuzzy controlled wall-following tracking method.

Description

technical field [0001] The invention relates to a multi-agent robot cooperative control method based on an artificial physics method, which belongs to the technical field of robot control. Background technique [0002] Robotics is one of the greatest inventions of mankind in the 20th century. With the wide application of robots and the improvement of their task complexity, the robot system is also developing from a single robot to multiple robots. A multi-robot system is described as a system in which several robots cooperate to complete tasks in the same environment. The multi-robot system mainly has the following characteristics: [0003] (1) Multi-robots can complete complex tasks; [0004] (2) Multi-robots can cooperate to complete tasks through communication; [0005] (3) Multi-robots can greatly improve the efficiency of the system and increase the performance and reliability of the system; [0006] (4) Multi-robots are distributed; [0007] (5) It is cheaper and...

Claims

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Application Information

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IPC IPC(8): G05D1/00
Inventor 张之瑶段海滨沈毅冯铁山
Owner BEIHANG UNIV
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