Method for removing polygonal obstacle for ground mobile robot group

A mobile robot and mobile machine technology, applied in the direction of instruments, non-electric variable control, position/direction control, etc., can solve the problem of not paying attention to group cooperation, not considering the problem of formation maintenance, and not being able to adapt to the requirements of large-scale robot groups and other problems, to achieve an orderly get rid of and improve the effect of mutual collision

Inactive Publication Date: 2012-05-09
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

The problems of this type of method are: the application object is multi-robots, which cannot well adapt to the requirements of large-scale robot groups; the problem of formation maintenance in this process is not considered; no attention is paid to group cooperation, etc.

Method used

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  • Method for removing polygonal obstacle for ground mobile robot group
  • Method for removing polygonal obstacle for ground mobile robot group
  • Method for removing polygonal obstacle for ground mobile robot group

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Embodiment Construction

[0017] In order to make the method and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0018] The method involved in the present invention mainly consists of three steps: generation of steering vector, transmission of steering vector and generation of motion direction.

[0019] Step 1: Generation of Steering Vectors

[0020] When the ground mobile robot group moves towards the target point in a certain formation, it obtains the position information of all neighbor robots through communication, and then detects whether there are obstacles around. If there is an obstacle, its distance and position are calculated. According to the position and distance of the obstacle, the repulsive force of the obstacle it receives is obtained. At the same time, the ground robot obtains the resultant force of the mobile robot according to the location information of the neighbor robot,...

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Abstract

The invention discloses a method for removing a polygonal obstacle for a ground mobile robot group, and belongs to the technical field of obstacle avoidance in the technical field of mobile multi-robots. The method comprises the following steps: step 1, generating steering vector; step 2, transmitting the steering vector, i.e., transmitting the steering vector to other adjacent robots after the ground mobile robot which discovers an obstacle generates steering vector; and step 3, generating moving direction, i.e., after each robot in the ground mobile robot group obtains the own steering vector, the steering vector and the resultant force of the robot are synthesized according to the vector addition to obtain the advancing direction and the advancing distance of the ground mobile robot. The method effectively improves the conditions of mutual collision between the group members and separation of the robot groups; and by the adoption of the method, the ground mobile robot group can effectively get rid of the polygonal obstacle in an orderly manner.

Description

technical field [0001] The invention relates to a method for a group of ground mobile robots to get rid of polygonal obstacles, and belongs to the technical field of obstacle avoidance in the technical field of mobile multi-robots. Background technique [0002] The ground swarm mobile robot system is composed of a large number of ground mobile robots, and is suitable for applications in collaborative fields such as reconnaissance and rescue. How to effectively organize the ground mobile robot swarm to avoid obstacles, especially to get rid of the local "dead zone" caused by polygonal obstacles, and at the same time ensure that there are no collisions and conflicts is an important issue for the ground mobile robot swarm system. At present, the methods for mobile robots to get rid of polygonal obstacles include the wall-surrounding algorithm, the method based on searching for double-edge safe points, and the method based on reinforcement learning. The problems of this kind of...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/00
Inventor 宋萍李科杰韩小兵漆光平陈昌梁金龙
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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