Algorithm Verification System for Indoor Universal Multi-Mobile Robots

Abstract

The application discloses an indoor universal multi-mobile-robot algorithm verification system. A platform comprises a wireless positioning module, a positioning algorithm module, a collision avoidance module and a motion module. The wireless positioning module is used for determining a distance between an omnidirectional robot and an anchor point. The positioning algorithm module is configured todetermine a second coordinate of the omnidirectional robot by using a three-sided positioning method according to the distance and a first coordinate of the anchor point. The collision avoidance module is configured to calculate a repulsive force between the omnidirectional robots and an attractive force between the omnidirectional robot and the target point based on the first coordinate and thesecond coordinate. The collision avoidance module is further configured to adjust the repulsive force according to a disturbance function when the repulsive force is determined to be equal to the attractive force. The motion module is s configured to calculate the moving speed and direction of the omnidirectional robot based on the repulsive force and the attractive force and control the omnidirectional robot to move to the target point. Therefore, the reliability and stability of the safe operation of the indoor multi-mobile-robot algorithm verification system are improved.

Description

technical field [0001] The present application relates to the technical field of indoor robot control, and in particular, relates to an indoor universal multi-mobile robot algorithm verification system. Background technique [0002] In recent years, cooperative control algorithms for multi-robot systems have received extensive attention, and a variety of distributed control algorithms have been studied to solve a variety of tasks ranging from environmental monitoring to collective material handling. These developments are driven by a combination of algorithm improvements, hardware miniaturization, and cost reduction, and a number of compelling multi-robot testbeds have been developed. [0003] At present, most of the existing multi-robot test platforms are developed based on GPS, which need to be run in an outdoor open field, and the algorithm test cannot be completed indoors. Part of the vision-based multi-robot algorithm testing platform developed indoors is expensive due...

AI Technical Summary

Problems solved by technology

[0003] At present, most of the existing multi-robot test platforms are developed based on GPS, which need to be run in an open field outdoors, and the algorithm test cannot be completed indoors.

Part of the vision-based multi-robot algorithm testing platform developed indoors is expensive due to the deployment of a motion capture system, which is not conducive to promotion and expansion

At the same time, the existing multi-robot test platform cannot conduct research on multi-robot architecture and communication topology at the same time, and the types of robots are fixed, so it is impossible to conduct research on collaborative control of heterogeneous robots

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