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Cooperative motion method for robot cluster in obstacle scene

A collaborative motion and robot technology, applied in the direction of instruments, non-electric variable control, two-dimensional position/channel control, etc., can solve problems such as incomplete application, complex problems, robot cluster movement, etc., to reduce coupling and facilitate algorithms The effect of design and expansion

Active Publication Date: 2019-08-23
SUN YAT SEN UNIV
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Problems solved by technology

However, in a scene with obstacles, the robot cluster cannot move in a fixed formation, and the above method is not fully applicable at this time
In a constrained environment, the robot swarm should adaptively change the expected formation according to the environmental information detected by the sensor, but how to choose a new formation and how to realize the formation transformation is a challenging problem. For the distributed architecture For clusters, the problem is more complicated

Method used

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  • Cooperative motion method for robot cluster in obstacle scene
  • Cooperative motion method for robot cluster in obstacle scene
  • Cooperative motion method for robot cluster in obstacle scene

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Embodiment Construction

[0048] The accompanying drawings are for illustrative purposes only, and should not be construed as limiting the present invention; in order to better illustrate this embodiment, certain components in the accompanying drawings will be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art It is understandable that some well-known structures and descriptions thereof may be omitted in the drawings. The positional relationship described in the drawings is for illustrative purposes only, and should not be construed as limiting the present invention.

[0049] Such as figure 1 As shown, a collaborative movement method of swarm robots in complex scenes includes the following steps:

[0050] Step 1. Before the robot cluster starts to move, it is necessary to manually set the key path point or plan an expected path through the planning algorithm for the leader of the cluster to follow. The follower realizes the coordinated movem...

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Abstract

The invention relates to the technical field of robots, more particularly to a cooperative motion method for a robot cluster in an obstacle scene. The method provided by the invention is used for enabling multiple robots to realize formation transformation, dynamic and static obstacle avoidance and cooperative motion in the obstacle scene. The method defines the cooperative control of the robot cluster in a complex environment as a distributed model predictive control problem. Each robot solves an optimization equation independently based on the information of local neighbors, which has betterrobustness and flexibility. At the same time, the method proposes the concept of a formation diagram, and uses a directed diagram to represent the robot formation. Under the premise of ensuring the connectivity of the diagram, local transformation of the desired formation can be realized by changing the edges and weights of the formation, and at the same time, the connectivity and the flexibilityof the cluster can be ensured. Besides, the method provided by the invention has a hierarchical structure. By adopting the hierarchical structure, the coupling between modules can be reduced, and algorithm design and expansion can be facilitated.

Description

technical field [0001] The invention relates to the technical fields of swarm intelligence and robot control, and more specifically, to a method for cooperative movement of swarm robots in a scene with obstacles. Background technique [0002] With the continuous development of robot technology, automated robot systems play an important role in more and more fields, such as industrial robots, household robots, service robots and so on. Therefore, autonomous navigation of robots in structured environments has been an active research area. Compared with traditional human systems, robotic systems have many advantages, such as economy, time and safety. Compared with single-robot systems, multi-robot systems have greater advantages and wider application scenarios, such as exploration in dangerous environments, monitoring in agriculture, and military tasks under extreme conditions. For the same complex task, a multi-robot system can be completed more efficiently and at a lower co...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0217G05D1/0219
Inventor 谢志鹏成慧龙有炼
Owner SUN YAT SEN UNIV
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