Mobile robot formation control method based on leader-follow

Abstract

The invention provides a mobile robot formation control method based on leader-follow. The method is formed by a global positioning system, a wireless communication system, an algorithm processing system, and a speed control system. The global positioning system obtains the pose information of each robot and sends the pose information to an arithmetic processing system through a wireless communication system, and the formation motion control is finally realized through the information interaction with the speed control system. In a control algorithm, firstly a leader-follow formation motion model is established, a follow robot motion control rate is given, then a follow robot trajectory prediction model is established, a nonlinear least squares method prediction model is employed, a prediction model parameter is optimized by using an improved particle swarm algorithm, a communication data abnormal range is defined, and a prediction point is started to substitute an abnormal point so as to ensure formation motion. According to the method, the prediction model is introduced, the formation order deviation phenomenon caused by temporary communication abnormality, the reliability of follow robot motion is ensured, and the stability of the formation is greatly improved.

Description

technical field [0001] The invention relates to the field of motion control of mobile robots, in particular to a method for controlling the motion of mobile robot formations based on pilot follow. Background technique [0002] With the development of robot technology, mobile robots have been greatly expanded and improved in terms of application scope and functions, and are widely used in national defense, industry, service industry and other industries. The formation of multiple mobile robots can effectively make up for the lack of ability of a single mobile robot, so that a single robot has a significant advantage in the group of formation behaviors that it did not have before. Through the coordination and cooperation of robots between groups, it can complete the work that a single robot cannot or is difficult to complete. Therefore, it is very necessary to study the formation control system and control method of mobile robots. [0003] After searching the existing literat...

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Problems solved by technology

However, when the invention introduces the Ad-Hoc network into the pilot follower, it does not consider the abnormality of network communication, and it is prone to the phenomenon of follower movement deviation caused by abnormal network communication.

Chinese patent application number: 201310281499.3, titled: A behavior-based leader-follower multi-agent formation control method, the invention discloses a behavior-based leader-follower multi-agent formation control method , this method compensates to a certain extent the defect that the leader leads to formation failure after an obstacle occurs by adding alternate leaders

[0004] Through the search, it is found that there are many studies on the motion control of mobile robots leading and following formations in the prior art. Although all of them can realize the formation control of robots, they have not considered the problem of follower movement in the case of limited communication in leading and following formations. , poor formation stability, lack of effective formation support

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