Multi-target capturing method for cooperative operation of swarm robots in complex non-convex environment

Abstract

The invention discloses a multi-target capturing method for cooperative operation of swarm robots in a complex non-convex environment. Firstly, a motion model of multiple targets and dynamic obstaclesin a complex non-convex environment is designed; then, the capturing behavior under the complex environment is studied; a multi-target simplified virtual stress model is constructed; based on the stress model, a dynamic multi-target self-organizing task allocation method and a specific process of collaborative self-organizing dynamic multi-target capturing are provided. According to the process multi-target task self-organizing allocation method, one target can be allocated to each robot only based on the two nearest neighbor task information; and then, in a complex non-convex environment, each robot can avoid various obstacles through a multi-target obstacle tracking algorithm based on the distance between the robot and the obstacle, calculation is simple and efficient, implementation iseasy, and the whole method process has good obstacle avoidance performance, robustness, expandability and flexibility.

Description

technical field [0001] The invention relates to the technical field of chasing and rounding up, in particular to a multi-target rounding up method for group robots working together in a complex and non-convex environment. Background technique [0002] Swarm robot system is a mobile distributed system with high density, robustness, scalability and flexibility. These important features make swarm robotic systems more promising than single-robot or multi-robot systems for large-scale tasks. [0003] There are many challenges for swarm robots to achieve dynamic multi-target round-up in an unknown dynamic complex non-convex obstacle environment: first, when dynamic multi-targets are scattered, each robot must use self-organization to achieve task allocation; second, the task allocation method should be as possible as possible Simple, the task allocation time should be very short; the third is to avoid collisions and minimize the moving distance of the robots assigned to differen...

AI Technical Summary

Problems solved by technology

[0003] There are many challenges for swarm robots to achieve dynamic multi-target round-up in an unknown dynamic complex non-convex obstacle environment: first, when dynamic multi-targets are scattered, each robot must use self-organization to achieve task allocation; second, the task allocation method should be as possible as possible Simple, the task allocation time should be very short; the third is to avoid collisions and minimize the moving distance of the robots assigned to different targets; fourth, the swarm robots must maintain a multi-target capture formation and successfully achieve non-convex targets in an unknown and complex environment. Obstacle avoidance; In addition, each robot can only realize self-organized movement based on the position information of the rounded target and the two nearest neighbors

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