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Cooperative control method for patrol escort tasks of multiple nonholonomic robots based on vector field

A collaborative control, robot technology, applied in two-dimensional position/channel control, non-electric variable control, program control, etc., can solve problems such as relying on the initial conditions of the robot

Inactive Publication Date: 2018-11-23
SHANDONG UNIV
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

Existing techniques study circular formations that track time-varying centers, but the proposed control law relies on the initial conditions of the robot and the target

Method used

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  • Cooperative control method for patrol escort tasks of multiple nonholonomic robots based on vector field
  • Cooperative control method for patrol escort tasks of multiple nonholonomic robots based on vector field
  • Cooperative control method for patrol escort tasks of multiple nonholonomic robots based on vector field

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Embodiment Construction

[0050] The present invention will be further described below with reference to the drawings and embodiments.

[0051] It should be pointed out that the following detailed descriptions are all illustrative and are intended to provide further explanations for the application. Unless otherwise indicated, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs.

[0052] It should be noted that the terms used here are only for describing specific embodiments, and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate There are features, steps, operations, devices, compone...

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Abstract

The invention discloses a cooperative control method for patrol escort tasks of multiple nonholonomic robots based on a vector field. Multiple nonholonomic robots are arranged around a moving object at an expected radius and circular velocity and the equal angular separation of the robots. A differential tracker is used for estimating the speed of a target under the condition that the speed of thetarget is unknown. Aiming at a multi-robot system, the invention proposes the distributed control strategy, and the method achieves the asymptotic convergence of the expected formation, and achievesthe stability and convergence analysis through a Lyapunov tool.

Description

Technical field [0001] The invention relates to a coordinated control problem of multiple non-integrated robots patrolling and escorting a target with a time-varying speed, in particular to a vector field-based coordinated control method for patrolling and escorting tasks of multiple non-integrated robots. Background technique [0002] The escort and patrol tasks of multi-robots come from applications such as military robots, robot surveillance security systems and entertainment robots. The task of escort can be regarded as the task of maintaining a formation around the target. When the target moves, the formed formation keeps the target at its center at all times and maintains the distance between the robot and the target, and the robots are evenly distributed around the target. The patrol mission is a further expansion, that is, formations surround the target for surveillance purposes. [0003] In the prior art, multiple robots are evenly distributed on a circle and patrol arou...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G05B19/418
CPCG05B19/4189G05D1/0219G05D1/0287Y02P90/02
Inventor 宋锐高嵩李贻斌
Owner SHANDONG UNIV
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