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A Human-Machine Cooperative Formation Following and Obstacle Avoidance Method Based on Obstacle Graph and Potential Field Method

A man-machine collaboration, obstacle map technology, applied in two-dimensional position/channel control, non-electric variable control, instruments and other directions

Active Publication Date: 2018-02-06
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] In order to solve the above-mentioned problems, the present invention aims at the problem that there are local extremum points in the current use of the potential function and needs trajectory planning, and provides a manned / unmanned platform formation following and obstacle avoidance method based on the obstacle graph model and the potential function, which solves the problem of In a complex environment, the unmanned platform formation follows the manned platform to the predetermined location, and the unmanned platform independently forms a formation and adjusts the formation position to avoid unknown obstacles.

Method used

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  • A Human-Machine Cooperative Formation Following and Obstacle Avoidance Method Based on Obstacle Graph and Potential Field Method
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  • A Human-Machine Cooperative Formation Following and Obstacle Avoidance Method Based on Obstacle Graph and Potential Field Method

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Embodiment Construction

[0070] Below in conjunction with accompanying drawing and embodiment the present invention will be further described:

[0071]The present invention sets up an experimental platform including three Pioneer 3-ATs and a host computer. Among them, Pioneer3-AT (including car notebook) is an unmanned platform, which can obtain its own position and speed information, as well as the ability to detect the position of obstacles through sensors, and has the ability to communicate with neighbors. As a manned platform, the upper computer can obtain the position and speed information of the man, and has the ability to communicate with the three unmanned platforms. Both the host computer program and the vehicle program are written in C++ language. The unmanned platform detects obstacles through sensors and sends the location of the obstacles to the manned platform. The manned platform plans the path, and sends the state of the virtual leader to the controller of the unmanned platform. The ...

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Abstract

The invention provides manned / unmanned platform formation following and obstacle-avoidance method based on an obstacle graph model and a potential function, so that a problem that the existing potential function has a local extreme point and needs track planning and a problem can be solved and control of unknown obstacle avoidance autonomous formation forming and formation position adjustment of an unmanned platform during the marching process of going to a predetermined site of the unmanned platform formation following an manned platform in a complex environment is realized. Therefore, graph model construction and connected structure identification of a practical obstacle environment by an manned platform are realized; and thus a collision-free path of a virtual leader is planned and the unmanned platform forms formation autonomously by following the virtual leader, and the detected obstacle is avoided. Meanwhile, during the obstacle avoidance process, the predetermined task of the unmanned platform is not damaged, so that the unmanned platform still can carry out formation autonomously after obstacle avoidance to follow the manned platform.

Description

technical field [0001] The invention belongs to the field of robot control, and in particular relates to a cooperative formation following control method, which applies an obstacle graph model and a potential function to manned / unmanned platform formation following and obstacle avoidance tasks. Background technique [0002] The manned / unmanned follow control mode is a part of the unmanned platform's cooperation with the manned platform, that is, through the manned platform's analysis of the battlefield situation, the task to be performed is determined and communicated to the unmanned platform, and the unmanned platform can autonomously gather in the Together, and form a designated formation, follow the manned platform to complete the task together. In the process of self-following of unmanned platforms, formation and obstacle avoidance are two basic functions necessary for it. [0003] The traditional unmanned platform formation control technology is based on the trajectory...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0289
Inventor 方浩陈杰吴楚张帆
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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