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Formation control method for mobile autonomous robots

A technology of autonomous robots and control methods, applied in adaptive control, general control systems, control/regulation systems, etc. Control a wide range of effects

Inactive Publication Date: 2012-01-25
JIANGSU KAIRUN TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The main disadvantage of these control algorithms is that their convergence and convergence speed cannot be strictly proved mathematically, so it is impossible to guarantee that the required formation will be achieved within the specified time.

Method used

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  • Formation control method for mobile autonomous robots
  • Formation control method for mobile autonomous robots
  • Formation control method for mobile autonomous robots

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Embodiment Construction

[0040] Below in conjunction with accompanying drawing and embodiment the invention is described in detail:

[0041] The present invention provides a new formation control algorithm for multi-autonomous mobile robots moving on a two-dimensional plane, and uses each robot as a mechatronic unit with certain independent computing and limited movement capabilities, and provides a new formation control algorithm for each robot. Configure the sensor so that it can measure the position of other robots relative to itself. Since each robot has a certain computing power, it can perform calculations based on the observed position of the current robot and the target geometric formation, so that each robot can perform independently. to the desired position, thereby converging to a pre-given geometric formation.

[0042] As a specific embodiment of the present invention, the present invention provides a logic flow chart such as Figure 5 A formation control method for synchronous mobile aut...

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Abstract

The invention provides a novel formation control algorithm for a plurality of autonomous mobile robots moving on a two-dimensional plane. According to the algorithm, each robot can independently move to a required position, so that a predetermined geometric formation can be converged. Moreover, the robot formation control algorithm provided by the invention is an optimized method obtained on the basis of a distributed method, so that the problem of wide target formation control can be solved, limit on a special target geometric formation is eliminated, and the control range is extremely wide. According to the algorithm, the convergence can be proved strictly on the aspect of mathematics, and the convergence speed is provided with an upper limit in a synchronization algorithm, so that the algorithm has higher conscientiousness than the conventional control algorithm based on experience and experiments.

Description

technical field [0001] The invention relates to the field of multi-robot cooperative control, in particular to a formation control method of mobile autonomous robots. [0002] Background technique [0003] Multi-robot formation control refers to the fact that a team composed of multiple robots maintains a predetermined geometric relationship with each other under appropriate environmental conditions during the execution of tasks. The basic problem of autonomous robot formation control is the independent distribution Controlling the movement of all robots enables these robots to form and maintain a given target geometric formation. In fact, it is beneficial to shorten the execution time of the task and improve the execution efficiency of the entire task. In many engineering systems, multiple independent Cooperative control between individual units, such as multi-robot systems, unmanned aerial vehicle formations, and automated highway systems, etc., so it has broad applicatio...

Claims

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Application Information

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IPC IPC(8): G05B13/02
Inventor 张焕
Owner JIANGSU KAIRUN TECH
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