Variable formation incomplete mobile robot consistency control method based on prediction

A mobile robot and control method technology, applied in non-electric variable control, two-dimensional position/channel control, control/regulation system, etc. Optimizing the formation process of formation consistency, efficient execution, and efficient operation

Pending Publication Date: 2022-03-25
GUANGDONG UNIV OF TECH
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Problems solved by technology

[0007] The purpose of the present invention is to provide a variable formation nonholonomic mobile robot consistency control method based on model predictive control, which solves the time-varying consistent formation problem of nonholonomic mobile robot structure changes under the information transformation topology and the system physics constraint problem

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  • Variable formation incomplete mobile robot consistency control method based on prediction
  • Variable formation incomplete mobile robot consistency control method based on prediction
  • Variable formation incomplete mobile robot consistency control method based on prediction

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Embodiment Construction

[0085] The present invention constructs a consistent formation fusion system composed of an auxiliary consistent maneuvering subsystem (path planning subsystem) and a formation tracking subsystem, and utilizes the distributed model predictive control (DMPC) method to construct a belt in the prediction time domain. Optimal control problems with system constraints, prediction of future states and consensus formation errors and model optimization with generalized projection neural networks (GPNNs). The designed control system can deal with the generalized distributed time-varying consistent formation system based on topology changes, and realize the movement of non-holonomic mobile robots in the form of predetermined formations under topology changes.

[0086] In some practical applications of specific target tracking, continuous monitoring and transportation, such as: robot exploration on the surface of alien planets, multi-mobile robot collaborative tasks, etc., the application ...

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Abstract

The invention discloses a variable formation incomplete mobile robot consistency control method based on prediction, and the method comprises the steps: determining a virtual leader to leader all other followers in a multi-robot system; establishing a kinematic model of the incomplete mobile robot; defining a control object of the leader-follower time-varying consistency formation; establishing an auxiliary consistent formation maneuvering trajectory subsystem and a formation tracking subsystem on a Cartesian coordinate level according to the definition of the consistent error; a mathematical language is used for expression, and an optimized formation model neural dynamic optimization distributed model predictive control formation controller is established. According to the method, the time-varying consistency formation problem of structure change of the incomplete mobile robot under the information transformation topology and the constraint problem of system physics are solved.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a method for consistent control of variable formation non-complete mobile robots based on model predictive control. Background technique [0002] Currently, schemes for efficient and simple implementation of consensus protocols for multiple nonholonomic mobile robots are still immature. At present, domestic and foreign research is to study and calculate the path planning system and the formation tracking system separately, that is, it is impossible to combine the two systems into one system for consistent formation processing, so a lot of resources are wasted. Due to Brockett's theory, it is very difficult to control the consensus formation of nonholonomic mobile robots with differentiable and continuous pure state feedback algorithms. And at present, the change of angular velocity based on signal function is widely used at home and abroad, but this method cannot deal with the state...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0291
Inventor 肖涵臻彭积广许志超杨洋
Owner GUANGDONG UNIV OF TECH
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