A multi-robot cooperative motion control method

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

Active Publication Date: 2022-02-25
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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  • A multi-robot cooperative motion control method
  • A multi-robot cooperative motion control method
  • A multi-robot cooperative motion control method

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Experimental program
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Embodiment 1

[0037] Most of the research in the prior art assumes that the global environment information is known. However, in the actual system, the general robot can only know the environment information within the range of the sensor, and static obstacles may be added in the environment at any time. Therefore, the offline path planning algorithm proposed with known global environment information is not suitable for practical systems.

[0038] In order to solve the problems existing in the prior art, this embodiment provides a multi-robot cooperative motion control method, which uses a two-dimensional grid graph to represent the robot work area, decomposes the work area into blocks, and uses the collaborative control algorithm and real-time heuristic Algorithm, so that each robot can 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;

[0...

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, among them, start i Indicates the current position of robot i, close_list i Indicates the position point that 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, then continue to execute the following steps, if is_end i =True then skip to step 8);

[0046] Step 3) Determine whether to add a static obstacle in real time, if so, add the position of the static obstacle 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 surrounding points are calculated according to the heuristic algorithm and...

Embodiment 3

[0059] On the basis of the foregoing embodiments, this embodiment is described by taking the coordinated motion of four robots as an example.

[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, among them, start i Indicates the current position of robot i, close_list i Indicates the position point that 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, then continue to execute the following steps, if is_end i =True then skip to step 10;

[0063] Step 3) Determine whether to add a static obstacle in real time, if so, add the position of the static obstacle 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 surrounding points are calculated ...

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Abstract

The invention provides a multi-robot collaborative motion control method, which uses a two-dimensional grid graph to represent the robot work area, decomposes the work area into blocks, and uses a collaborative control algorithm and a real-time heuristic algorithm to enable each robot to find the total cost Less, meet the total CTL and can move to the next position of the target position, avoid static obstacles in real time, and reach the target position through coordinated movement. The present invention does not need a solver to solve the problem, and considers the solution of the simplified problem from the perspective of the grid method and CTL and LTL. The grid-based map representation method divides the entire environment into several grids of the same size. There is no need to know the global environment information in advance, and each robot can only perceive the environment information within the sensor range and communicate with the robot within the communication range. It overcomes the defects that the centralized control easily leads to the lack of robustness and scalability of the system, and realizes the coordinated movement of multiple robots.

Description

technical field [0001] The invention belongs to the technical field of cooperative control, and in particular relates to a multi-robot cooperative motion control method based on CTL and applying a real-time heuristic algorithm. Background technique [0002] With the development of science and technology, the application of mobile robots is becoming more and more common. People have developed mobile robot systems that can work in various environments, such as unmanned aircraft (Unmanned Ariel Vehicle), unmanned vehicle (Unmanned Ground Vehicle) ), Unmanned Underwater 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 faced with a large number of complex and large-scale tasks. Therefore, a single robot can no longer perform these tasks well. Compared with single-robot systems, multi-robot syste...

Claims

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Application Information

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