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Formation control method of distributed multi-mobile robot based on nash iteration

A mobile robot and control method technology, applied in two-dimensional position/channel control and other directions, to achieve good anti-disturbance ability, reduce the amount of calculation and communication.

Active Publication Date: 2017-07-25
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0005] In order to solve the problems of complex control controller design, large amount of calculation, large amount of communication, and difficult to solve coupling problems in the formation control of multiple mobile robots, the present invention provides a distributed control method that is relatively concise, easy to implement, and has good control effects , used to solve the multi-mobile robot formation control problem

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  • Formation control method of distributed multi-mobile robot based on nash iteration
  • Formation control method of distributed multi-mobile robot based on nash iteration
  • Formation control method of distributed multi-mobile robot based on nash iteration

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Embodiment Construction

[0029] The present invention will be further described below in conjunction with the accompanying drawings.

[0030] refer to figure 1 , a distributed multi-mobile robot formation control method based on Nash iteration, including the following steps:

[0031] 1) Modeling the mobile robot: refer to figure 1 , taking the three-wheeled mobile robot as the object, the continuous system deviation model of a single mobile robot i is:

[0032]

[0033]

[0034] Among them, (x e,i ,y e,i ,α e,i ) represents the orientation deviation of the mobile robot i relative to the virtual mobile robot i, including the deviation x on the x and y axes e,i ,y e,i and the angular deviation α of the running line speed e,i , the virtual mobile robot is a hypothetical mobile robot running on the reference trajectory according to the set running state, assuming that the virtual mobile robot i is near the tracking point P, and the curvature at point P is k P,i , k(s i) is the curvature of ...

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Abstract

The invention discloses a Nash iteration-based distributed multi-mobile robot formation control method. The method comprises the following steps: 1) modeling is carried out on the multiple mobile robots, and a distributed discrete state space deviation model for the multiple mobile robots is obtained; 2) according to the discrete state space deviation model for the multiple mobile robots, performance indexes for a subsystem are designed; and 3) a Nash iteration-based distributed model predictive control algorithm is designed to carry out formation control on the multiple mobile robots. The distributed multi-mobile robot formation control method provided by the invention has the advantages of conciseness, easy realization and good control effects.

Description

technical field [0001] The invention relates to mobile robot control, in particular to a multi-mobile robot distributed formation control method. Background technique [0002] With the continuous expansion of the application field of multi-mobile robots, people hope that multi-mobile robots can better complete more difficult tasks; multi-mobile robots can cooperate with each other, and each robot can adjust its own state according to the operating state of other robots etc., in order to achieve the effect of coordinated control. In the collaborative control of mobile robots, the formation control of multiple mobile robots is the most basic and important goal. The so-called formation control refers to the control problem in which multiple mobile robots maintain a certain formation while meeting environmental constraints (such as avoiding obstacles). [0003] The main problems of multi-mobile robot formation control are as follows: 1) It is difficult to establish an easy-to-...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
Inventor 刘安东张荣超滕游张文安俞立
Owner ZHEJIANG UNIV OF TECH
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