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Distributed multi-robot containment collision prevention control method

A multi-robot, control method technology, applied in the field of intelligent robots

Inactive Publication Date: 2015-09-09
EAST CHINA JIAOTONG UNIVERSITY
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is, in order to solve the problem of collision avoidance between robot individuals, the present invention provides a kind of known based on local information that can solve the problem of collision between robot individuals when the size of the robot group increases and the topology of the group network is controllable Contains the control method

Method used

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  • Distributed multi-robot containment collision prevention control method
  • Distributed multi-robot containment collision prevention control method
  • Distributed multi-robot containment collision prevention control method

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Embodiment Construction

[0057] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0058] The steps of the specific embodiment of the present invention are as Figure 7 shown.

[0059] Using bipartite graph maximum matching algorithm to determine the schematic diagram of driving nodes: Generally speaking, the goal of complex network control is to make the entire network controllable and reach the expected state by inputting signals to several selected control nodes.

[0060] In modern control theory, system controllability is a more general concept that reflects the ability of the input to control the system state. Given a linear steady-state control system:

[0061] x · = Ax ( t ) + Bu ( t ) , x ∈ R N , ...

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Abstract

A distributed multi-robot containment control method comprises the following steps: (1) determining leader and follower sets in a directed network according to the communication relationship between robots in the network; (2) designing a position control operator of the follower robots when the leaders are static; (3) introducing a potential energy function to ensure that collision between the follower robots in the process of movement is prevented, and forming a containment control rate when the leaders are static; (4) designing a position control operator of the follower robots when the leaders are dynamic; (5) introducing an exponential estimator to a control strategy formulated for the follower robots to estimate the speed of the leader robots, realize the transformation from locally knowable to globally knowable and determine a speed control operator of the follower robots; and (6) integrating the position control operator and a direction control operator of the robots in a weighted manner, introducing the potential energy function to ensure that collision between individuals in the process of movement is prevented, and forming a distributed containment control rate of the dynamic robots.

Description

technical field [0001] The invention relates to the technical field of intelligent robots, in particular to a distributed multi-robot control method including collision avoidance. Background technique [0002] With the continuous maturity and development of computer technology, control theory, artificial intelligence theory, and sensor technology, robotics research formed by interdisciplinary research has also entered a new stage. From programmable, teaching and reproducing industrial robots to robots with certain sensing capabilities and adaptability, to intelligent robots equipped with a variety of advanced sensors and strong adaptability, the research work of robotics has gone through a process from From simple to complex, from single function to multiple functions, from industrial manufacturing to military reconnaissance, nuclear industry, aerospace, service industry, genetic engineering and many other fields. It can be predicted that in the near future, the application...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
Inventor 陈世明王培柯予宸裴惠琴
Owner EAST CHINA JIAOTONG UNIVERSITY
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