Multi-robot synergic movement control method

A technology of cooperative motion and control methods, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of unsuccessful linear solution, lack of robustness and scalability of the system, complex system model, etc., to overcome the lack of robustness. and the effect of scalability

Active Publication Date: 2018-11-02
XIDIAN UNIV
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Problems solved by technology

[0004] In the past, many researchers have studied the multi-robot motion planning problem based on sequential logic, but there are still some defects, which are specifically reflected in: 1. Directly write the goal in the form of nonlinear mathematical programming, which cannot be solved by CVX, MATLAB, etc. With the help of nonlinear mathematical programming solver methods such as SMT and SNOPT, problems such as long solution time and unsuccessful linear solution may occur; 2. The motion control of traditional robots usually depends on the dynamic equations of the robot (such as speed, acceleration, torque, etc.) etc.), however, as the number of robots in the system increases, the system model based on dynamic equations will become highly coupled and complex, making the system difficult to solve; 3. The use of centralized control will lead to the lack of robustness and scalability of the system 4. Most of the research relies on the known global environment information, and the proposed offline path planning algorithm cannot avoid obstacles that may appear in real time

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Embodiment 1

[0037] Most studies in the prior art assume that global environmental information is known. However, in actual systems, general robots can only know the environmental information within the sensor range, and static obstacles may be added in the environment at any time. Therefore, the offline path planning algorithm proposed by knowing the global environment information is not suitable for the actual system.

[0038] In order to solve the problems in the prior art, this embodiment provides a multi-robot cooperative motion control method. The robot working area is represented by a two-dimensional grid diagram, the working area is decomposed into blocks, and the cooperative control algorithm and real-time heuristics are adopted. The algorithm enables each robot to find the next position with the least total cost, satisfy the total CTL and move to the target position, avoid static obstacles in real time, and reach the target position through coordinated movement;

[0039] Among them, t...

Embodiment 2

[0043] On the basis of Embodiment 1, this embodiment provides a multi-robot cooperative motion control method, and the cooperative control algorithm includes the following steps:

[0044] Step 1) Initialize start i , Close_list i , Is_end i =False, where start i Indicates the current position of robot i, close_list i Represents the position point where the robot i no longer retrieves, is_end i Indicates whether the robot i has reached the target position, i=1, 2, 3, 4,..., n;

[0045] Step 2) If is_end i = False, continue to perform the following steps, if is_end i =True skip to step 8);

[0046] Step 3) Determine whether to add static obstacles in real time. If adding, add the location of the static obstacles to OBS realtime ; OBS realtime A collection of static obstacle positions added in real time;

[0047] Step 4) Start the current position of each robot i The coordinates of the eight points around are added to the nearest after calculating the cost according to the heuristic algor...

Embodiment 3

[0059] On the basis of the foregoing embodiment, this embodiment uses the coordinated movement of four robots as an example for presentation.

[0060] The specific steps of the collaborative control algorithm are as follows:

[0061] Step 1) Initialize start i , Close_list i , Is_end i =False, where start i Indicates the current position of robot i, close_list i Represents the position point where the robot i no longer retrieves, is_end i Indicates whether the robot i has reached the target position, i=1, 2, 3, 4;

[0062] Step 2) If is_end i = False, continue to perform the following steps, if is_end i =True skip to step 10;

[0063] Step 3) Determine whether to add static obstacles in real time. If adding, add the location of the static obstacles to OBS realtime ; OBS realtime A collection of static obstacle positions added in real time;

[0064] Step 4) Start the current position of each robot i The coordinates of the eight points around are added to the nearest after calculating the...

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Abstract

The invention provides a multi-robot synergic movement control method. A two-dimensional grid graph is used for representing a robot work area; the work area is decomposed into blocks; a synergic control algorithm and a real-time heuristic algorithm are used for enabling each robot to find the next position with least cost, meeting total CTL and capable of moving to a target location, static obstacles can be avoided at real time, and the target location is reached by synergic movement. A solver is not required for a solution, the solution of simplifying problem is considered from the angle ofa grid method, CTL and LTL, and cartographic representation is based on grid, that is, the entire environment is divided into a plurality of grids of the same size. Entire environment information doesnot need to be known in advance, and robots can perceive environment information in the range of a sensor and can communicate with robots in communication range. The defect of system lacking robustness and scalability caused by central control is overcome, and multi-robot synergic movement is achieved.

Description

Technical field [0001] The invention belongs to the technical field of cooperative control, and specifically relates to a CTL-based multi-robot cooperative motion control method applying real-time heuristic algorithm. Background technique [0002] With the development of science and technology, the application of mobile robots has become more and more common. People have developed mobile robot systems that can operate in various environments, such as unmanned aircraft (Unmanned Ariel Vehicle) and unmanned ground vehicle (Unmanned Ground Vehicle). ), Unmanned Underwater Vehicle, etc. At the same time, with the progress of industrialization, many fields such as automatic manufacturing, flexible production, search and rescue, environmental monitoring, safety and health are facing a large number of complex operations and large-scale tasks. Therefore, a single robot can no longer perform these tasks well. Compared with a single robot system, a multi-robot system has a series of sign...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1669
Inventor 杨帆胡核算
Owner XIDIAN UNIV
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