Swarm robot distributed competition cooperation method for multi-target tracking

A technology of swarm robots and robots, which is applied in the field of distributed competitive collaborative control, can solve problems such as lack of global communication, and achieve the effect of reducing communication load and computing load

Inactive Publication Date: 2020-10-27
LANZHOU UNIVERSITY
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  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Because the robots in the swarm robot system are limited by the uncertain orientation, distance, and communication power, they usually do not have the ability to communicate globally.

Method used

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  • Swarm robot distributed competition cooperation method for multi-target tracking
  • Swarm robot distributed competition cooperation method for multi-target tracking
  • Swarm robot distributed competition cooperation method for multi-target tracking

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Embodiment Construction

[0029] The present invention proposes a multi-target tracking-oriented distributed competition and collaboration method for group robots, aiming at realizing the distributed competition and collaboration of group robot systems in the presence of limited communication and fault interference, and making all robots in the system more efficient when performing tasks. and accuracy are optimized. In the process of distributed competitive cooperative control of swarm robots, we adopt the following rules to optimize the execution of tasks.

[0030] The decision-making process for the optimal robot in the distributed competition collaboration of the group robot system includes:

[0031] Obtaining the target group and the location information of each robot in the system;

[0032] Detecting position information of external obstacles in the operating environment of the swarm robot system;

[0033] Optimal selection of robots in the system according to the distributed competition and col...

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Abstract

The invention provides a swarm robot distributed competition cooperation method for multi-target tracking. The swarm robot distributed competition cooperation method comprises the following steps: 1)distributing robots and detecting position information and environment information of a target group, a coverage area of swarm robots, consumed communication power and the like in real time; 2) for each robot, acquiring information mastered by the robot communicated with the robot in a communication topological graph in real time; 3) constructing a decision scheme for optimal robot selection in swarm robot distributed competition cooperation in real time according to the information, and determining a driving information instruction for allocating the robots according to a quadratic programming method; and 4) selecting an optimal robot according to the driving information instruction, and identifying a motion coordinate system of the robot and the target group in real time to realize distributed competition cooperation of the swarm robots for multi-target task execution. According to the method, the application scene of the swarm robot is broadened by constructing a competitive cooperation mechanism, the communication load and loss are reduced through distributed design, and the stability of a swarm robot system is guaranteed.

Description

technical field [0001] The invention relates to the field of distributed competitive cooperative control, in particular to a multi-target tracking-oriented distributed competitive cooperative method for group robots. Background technique [0002] The development of robot technology has continuously expanded the application field and scope of robots, so people hope that robots can complete more complex tasks. However, complex operations centered on a single robot are often inefficient and difficult to meet the needs of the task. Inspired by the social behavior of individuals in the biological world, the operation model dominated by multi-agent collaboration usually has advantages over single-agent operations. With the deepening of intelligence and the diversification of tasks, the research on swarm robot systems also puts forward higher requirements. [0003] The cooperative control of swarm robots has become a research hotspot in the fields of medical services, military af...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/418
CPCG05B19/4185G05B2219/31088Y02P90/02
Inventor 金龙齐一萌李帅刘梅
Owner LANZHOU UNIVERSITY
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