Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Multi-robot continuous monitoring method and non-temporary computer readable storage medium

A multi-robot and robot technology, applied in the field of non-temporary computer-readable storage media, can solve problems such as danger, inability to completely avoid obstacles, and huge manpower consumption, achieve good consistency, and increase the minimum access frequency and access frequency Tendency and good adaptability

Pending Publication Date: 2022-08-05
NAT UNIV OF DEFENSE TECH
View PDF0 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The task of continuous monitoring of a certain environment or area exists widely in various application fields. The completion of such tasks usually requires a lot of manpower and has certain dangers in specific situations, so it has become a basic problem in the research of multi-robot systems. one
[0003] Aiming at the problem of continuous monitoring of multi-robot systems in an obstacle environment, a distributed monitoring algorithm is constructed based on Thiessen polygon (Voronoi) and virtual force method in related technologies, but the Voronoi diagram focuses on how to partition the environment, which is not very good Adapt to dynamic changes in the environment
Whereas in an accessible environment the target space is usually divided into grids, each grid has an age representing the elapsed time since it was last observed, the goal of continuous monitoring is to integrate all grids observed over a long period The maximum age is minimized, but the effectiveness of this semi-heuristic method in obstacle environments has not been studied, and its direct application to obstacle environments cannot completely avoid obstacles

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Multi-robot continuous monitoring method and non-temporary computer readable storage medium
  • Multi-robot continuous monitoring method and non-temporary computer readable storage medium
  • Multi-robot continuous monitoring method and non-temporary computer readable storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0072] According to the multi -robot continuous monitoring method of the embodiments of the present invention, including the following steps:

[0073] S1, the establishment of the XOY coordinate system, the coordinates of the center of the grid are (i, j), the current position CAR_POS of the robot, the position of the obstacles OBS_POS, the unit value CELL of each grid, each robot and each network The distance between the grids, the movement speed VEL of each robot, the orientation value of each robot, the target position OPT_COUNT, the target position of each robot. For example, Car_POS, OBS_POS, OPT_COUNT are all sets of coordinate points, Cell is 10 × 10 arrays, and the distribution of distance_all and value is 3 × 10 × 10 arrays, respectively, each layer corresponds to a robot data.

[0074] S2, calculate the orientation value of each robot based on the following formula:

[0075] if (i, j) in OBS_POS:

[0076] V i,j = -Inf or v i,j = Nan

[0077] else:

[0078]

[0079] In ...

Embodiment 2

[0094] According to the multi -robot continuous monitoring method of another embodiment of the present invention, including the following steps:

[0095] S1, the establishment of the XOY coordinate system, the coordinates of the center of the grid are (i, j), the current position CAR_POS of the robot, the position of the obstacles OBS_POS, the unit value CELL of each grid, each robot and each network The distance between the grids, the movement speed VEL of each robot, the orientation value of each robot, the target position OPT_COUNT, the target position of each robot.

[0096] S2, calculate the orientation value of each robot based on the following formula:

[0097] if (i, j) in OBS_POS:

[0098] V i,j = -Inf or v i,j = Nan

[0099] else:

[0100]

[0101] In the formula, v i,j The guide value corresponding to the grid of the coordinates (i, j), cell i,j The unit value corresponding to the grid of the coordinates (i, j), ω 0 Ω 1 The weighted coefficient, Δ kj It is the distanc...

Embodiment 3

[0111] like Figure 8 It is shown that there are 3 mobile robots. The two -dimensional plane areas are evenly divided into 15 × 17 grids. Each grid is a square with a edge length of 1. Channels and / or intersections have multiple gears to form a maze environment. Straight lines with points, triangles and blocks in the figure represent the path of mobile robots. The minimum width of the channel or intersection is 2, and each enclosure occupies one or more grid edges. The robot is located at the apex of the grid and moves along the side length of each grid to the apex of the adjacent grid. The robot is The monitoring range of the sensor is in the direction of its forward direction.

[0112] S1, the coordinate of the apex of the grid distributed in the coordinate system is (i, j), the current position CAR_PS_POS, the unit value of each grid, each grid, each grid, each grid, each grid. The distance between the robot and each grid, the movement speed VEL of each robot, the cell is 15 × 1...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a multi-robot continuous monitoring method and a non-temporary computer readable storage medium. The method comprises the following steps: S1, initializing; s2, the guiding value Value of each robot is calculated; s3, acquiring a coordinate corresponding to the maximum guide value Value of each robot, and adding the coordinate as a global target position into the set optcount; s4, searching the adjacent grids of the current position carpos of each robot, and removing the grids occupied by the obstacles; s5, the distance between the adjacent grids and the corresponding global target position is calculated, and the adjacent grid with the minimum distance to the target position is selected as the single-step target position to which the robot moves at the speed Vel; and S6, judging whether each robot arrives at the single-step target position in the step S5 or not, if so, updating the current position carpos of the robot, setting the unit value of the grid corresponding to the current position carpos to be 0, and increasing delta t to the unit values of the other grids. According to the multi-robot continuous monitoring method, partition does not need to be considered, and adaptability is good.

Description

Technical field [0001] The present invention involves the field of continuous monitoring technology of multi -robotics. Specifically, it involves a non -temporary computer readable storage medium that involves a multi -robot continuous monitoring method and realizes the non -temporary computer of the multi -robot continuous monitoring method. Background technique [0002] Since the emergence of robots, applications in the fields of agriculture, industry, business, service, medical care, rescue, military, and empty sky have been liberated from heavy tasks, and even replacing humans to work in danger. In order to enable robots to complete more complex and variety of tasks, the multi -robot system has gradually become a research hotspot in the field of robotics. Compared with a single robot system, multi -robot cooperation can make up for the lack of individual ability, and has excellent performance in terms of task execution efficiency, robustness, flexibility and fault tolerance. ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G05D1/02
CPCG05D1/0221Y02P90/02
Inventor 陈亚萍王楠何科延甘子豪王伟孙兆梅黄杰洪华杰
Owner NAT UNIV OF DEFENSE TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com