Minimum Step Formation Method for Multiple Mobile Robots

Abstract

The invention discloses a multi-mobile-robot minimum step formation method, and the method comprises the following steps: 1), building a multi-mobile-robot motion model in a complex plane; 2), building a topological graph of a multi-mobile-robot system; 3), solving a complex Laplacian matrix; 4), configuring extreme points of the complex Laplacian matrix; 5), calculating distributed discrete control signals; 6), recording the displacement information and calculating the final position. The method can enable a robot to predict the final position of the robot in a formation in the shortest time, and is of a completely distributed type. The employed information is just the displacement information recorded by the robot, and there is no global coordinate system. The robot still can calculate the target position through the rotating speeds of the left and right wheels or the displacement information recorded by other local coordinate systems. The method efficiently helps the robot calculate the target position of the robot, and provides a feasible solution for the high-efficiency formation of multiple mobile robots.

Description

technical field [0001] The invention relates to the technical field of multi-mobile robot formation control, in particular, it is a method for predicting formation assembly locations by using path information recorded during robot travel, thereby accelerating robot formation. Background technique [0002] With the innovation of technology and the continuous expansion of robot application fields, a single robot can no longer meet the needs of human production and life in some aspects. Using multiple single robots with relatively simple structures and sensing capabilities to form a multi-robot collaborative system not only saves the cost of robot structure design, but also increases safety. As one of the hot issues in the research of multi-robot systems, multi-robot collaboration has shown a wide range of applications in military, national defense, industry, and life after more than 20 years of development. The basic problems of multi-robot collaborative system research inclu...

AI Technical Summary

Problems solved by technology

[0006] Aiming at the problem that a plurality of mobile robots form a specific formation on a two-dimensional plane, the present invention overcomes the disadvantage that the prior art cannot meet the high-efficiency formation task, and on the basis of the existing complex Laplace formation, the present invention provides A minimum-step formation method for multiple mobile robots, aiming to predict each robot's final assembly position in the formation in the shortest time

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