CN101630162A - Local following control method of multiple mobile robots - Google Patents
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Abstract
The invention discloses a local following control method of multiple mobile robots. In the method, a following robot uses information provided by a self vision system to realize the control of the following of a pilot robot of the following robot. The following robot depends on visual measurement for acquiring a relative distance d and an observed azimuth theta to the pilot robot; by combining with a given distance dp, the following robot calculates a distance deviation e and a deviation change rate ec, adjusts the distance by using a fuzzy control method and outputs a control variable mu to realize speed control; and by combining with a given observed azimuth thetap, the following robot calculates an azimuth deviation etheta, adjusts the azimuth through proportional control and outputs a control variable mutheta to realize the control of the movement direction of the robot. The method is expected to provide a coordinate control method for a multi-robot system under a condition of poor communication quality, particularly invalid communication. In addition, the method provides a technical guarantee for the applications of the multi-robot system in military, security and other aspects.
Description
Technical field
The present invention relates to the local following control method in Robotics field, particularly a kind of multiple mobile robot, be used for multi-robot system.
Background technology
Be subjected to human society to finish the inspiration of a series of complex tasks with cooperating by the division of labor in society, a plurality of robots of some mission requirements in the process coordinating cooperation of executing the task to improve overall performance.With individual machine physiognomy ratio, multi-robot system has some advantages: utilize the spatial characteristics of multi-robot system, the efficient of finishing the work with raising by the concurrent working of a plurality of robots; Utilize the deficiency that remedies individual capability of sharing of the interior various resources of multi-robot system, enlarge the limit of power of finishing the work; Utilize the characteristics of the distribution of multi-robot system function, resource distribution to reduce the cost of individual machine robot system and the difficulty of system design, reduce the loss of carrying out in the hot mission process.In recent years, the research of multi-robot system receives increasing concern, has carried out deep research work at aspects such as multirobot colony architecture, perception and multi-sensor information fusion, communication mechanism, study, motion planning, Task Distribution, conflict resolution, concerted mechanisms.
The multirobot task of following is the multirobot task of a quasi-representative, has important application prospects at aspects such as military affairs, securities.Obtaining the relevant information of other robot and then realize organically coordinating by communication modes is the method that extensively adopts, yet it is poor at communication quality, especially under the occasion of communication failures, mode based on communication is restricted, therefore, be necessary to rely on the ability of robot self to obtain the information of other robot and then the coordination between the assurance robot by the mode of local perception.
Summary of the invention
The purpose of this invention is to provide a kind of local following control method of multiple mobile robots, make robot rely on the heat transfer agent of self to follow its pilot robot, and the relative distance and the observed azimuth of maintenance and pilot robot expectation, reach gratifying control effect.
For achieving the above object, technical solution of the present invention is:
A kind of local following control method of multiple mobile robots is used for multi-robot system; It comprises step:
A) vision measurement, each follow robot according to the colour code tube on the pilot robot determine with respect to pilot robot apart from d and observed azimuth θ;
B) according to the relative distance d of pilot robot, in conjunction with distance to a declared goal d
p, the rate of change ec of computed range deviation e and deviation is with the rate of change ec obfuscation of range deviation e and deviation, draw fuzzy control quantity according to fuzzy reasoning, provide accurate controlled quentity controlled variable behind the non-Defuzzication, accurately controlled quentity controlled variable is exported controlled quentity controlled variable u after multiply by scale factor, i.e. the size of speed;
C) according to observed azimuth θ, in conjunction with given observed azimuth θ to pilot robot
p, calculate angular deviation e
θ, as the input of proportional controller, it is output as controlled quentity controlled variable u
θ, i.e. the angle of robot deflection.
Described local following control method of multiple mobile robots, its robot does not have communication each other.
Described local following control method of multiple mobile robots, its colour code tube are the cylindrical tube of hollow, are combined up and down by at least two kinds of colors, and the colour code tube is put in the robot, and its center and robot center are consistent.
Described local following control method of multiple mobile robots, its described accurate controlled quentity controlled variable obtains according to method of weighted mean.
Described local following control method of multiple mobile robots, its described robot speed's size and Orientation is controlled by the output of fuzzy controller, the output of proportional controller respectively.
The present invention will be poor at communication quality for multi-robot system, especially under the situation of communication failures, provide a kind of control method for coordinating, for the application of multi-robot system at aspects such as military affairs, securities provides technical guarantee.
Description of drawings
Fig. 1 is that the control block diagram is followed in the multiple mobile robot part;
Fig. 2 is the subordinate function of the transmission range deviation e of fuzzy controller;
Fig. 3 is the subordinate function of the input deviation rate of change ec of fuzzy controller;
Fig. 4 is the subordinate function of the output u of fuzzy controller;
Fig. 5 is the process flow diagram of local following control method of multiple mobile robots;
Fig. 6 is a pilot robot when doing circus movement, follows the range deviation curve of the relative pilot robot of robot;
Fig. 7 is a pilot robot when doing circus movement, follows the deviation curve of robot to the observed azimuth of pilot robot.
Embodiment
The present invention has provided the fuzzy controller that is used to adjust robot speed's size of a kind of bivariate input single argument output, and the proportional controller that is used to adjust robot speed's direction.Fuzzy controller adopts the method for fuzzy control according to following the range deviation of robot and pilot robot and the rate of change of deviation, draws accurate controlled quentity controlled variable, and accurately controlled quentity controlled variable multiply by scale factor control robot velocity magnitude.Proportional controller carries out angular setting according to following robot to the deviation of the observed azimuth of pilot robot, draws output quantity control robot direction.Control block diagram as shown in Figure 1, wherein d
p, θ
pDivide the desired distance and the expectation observed azimuth that maybe keep, e, ec, e
θBe respectively range deviation, deviation variation rate and angular deviation, d, θ are respectively actual range and the observed azimuth that draws by vision measurement, k
e, k
EcBe quantizing factor, k
uBe scale factor, u is robot speed's size, u
θBe robot speed's direction.
1, vision measurement
Pilot robot is equipped with a colour code tube, and it is the cylindrical tube of a hollow, is combined up and down by at least two kinds of colors, and the colour code tube is put on the pilot robot, and its center and robot center are consistent.Follow robot by the visual identity of colour code tube being finished identification,, and then obtain the relative positioning information of estimation in conjunction with vision calibration to pilot robot.
Definition (u v) is that image coordinate is fastened a bit, (x, y are its coordinates on world coordinate system z), then have:
Wherein M is the ccd video camera intrinsic parameter, is obtained by camera calibration.
Note (u
1, v
1) and (u
2, v
2) be respectively the point of colour code tube top and bottom, (x
1, y
1, z
1) and (x
2, y
2, z
2) be the coordinate of their pairing world coordinate systems, u
1=u
2, z
1=z
2, y
2-y
1Be the true altitude of colour code tube, then
α in the formula
yObtain v by M
2-v
1It is the height of colour code sketch drawing picture.
Note (u
T, v
T) be the center of colour code tube, u
d, θ
vBe respectively the width of image and the width in the visual field, then
2, the obfuscation of fuzzy controller input variable, quantification gradation and subordinate function are followed the range deviation e=d of robot and pilot robot
p-d, deviation range be decided to be [| e
Max|, | e
Max|]; Quantizing factor is decided to be k
e=6/|e
Max|; E is quantified as domain { 6 ,-5 ,-4 ,-3,-2 ,-1 ,-0 ,+0,1,2,3,4,5, the value among the 6}, and make 8 language values { NB, the NM of this value and fuzzy variable E by certain degree of membership relation, NS, NZ, PZ, PS, PM, PB} is corresponding, and subordinate function is (this subordinate function can be revised in working control) as shown in Figure 2.
Follow the range deviation rate of change ec of robot and pilot robot, deviation range be decided to be [| e
Cmax|, | e
Cmax|]; Quantizing factor is decided to be k
Ec=6/|e
Cmax|; Ec is quantified as domain { 6 ,-5 ,-4 ,-3,-2 ,-1,0,1,2,3,4,5, value among the 6}, and make 7 language values { NB, the NM of this value and fuzzy variable EC by certain degree of membership relation, NS, ZE, PS, PM, PB} is corresponding, and subordinate function is (this subordinate function can be revised in working control) as shown in Figure 3.
3, the quantification gradation of fuzzy controller output variable and subordinate function
Output variable u is robot speed's size, its scope be [| u
Max|, | u
Max|]; Scale factor is decided to be k
u=| u
Max|/7; With the domain of u 7 ,-6-5 ,-4 ,-3 ,-2 ,-1,0,1,2,3,4,5,6, the value among the 7} is by 7 the language value { NBs of certain degree of membership relation with fuzzy variable U, NM, NS, ZE, PS, PM, PB} is corresponding, and subordinate function is (this subordinate function can be revised in working control) as shown in Figure 4.
4, fuzzy control rule
Sum up fuzzy control experience and can get following fuzzy control rule table (table 1).
Table 1 fuzzy control rule table
The fuzzy vector that makes e, ec and u is A
i(e), B
j(ec) and C
Ij(u) (i=1,2 ..., 8, j=1,2 ..., 7), A
i∈ { NB, NM, NS, NZ, PZ, PS, PM, PB}, B
j, C
Ij∈ { NB, NM, NS, ZE, PS, PM, PB}.
Adopt minimum operation method to calculate fuzzy implication and concern A
i* B
j→ C
Ij
Then total fuzzy implication is closed and is
R＝∪R
ij
5, fuzzy reasoning
Take to round the obfuscation method nearby, with the actual measured amount obfuscation, the obfuscation vector of establishing e and ec is respectively A ' and B '.Fuzzy control quantity is tried to achieve by the obfuscation vector and the maximum-minimum compose operation of total fuzzy implication relation,
C′(u)＝[A′(e)∧B′(ec)]
TοR
In the formula C ' (u)=[C ' (u
1), C ' (u
2), C ' (u
3), C ' (u
4), C ' (u
5), C ' (u
6), C ' (u
7)] be fuzzy control quantity, " ο " concerns composite operator.
6, non-Defuzzication
Non-Defuzzication is a sharpening, adopts weighting average decision method, transfers fuzzy control quantity to corresponding accurate controlled quentity controlled variable.
According to each input variable, output variable and the mutual fuzzy control rule thereof of above-mentioned Fig. 2, Fig. 3, Fig. 4 and table 1, fuzzy reasoning, non-Defuzzication can be determined following fuzzy polling list.
Table 2 fuzzy polling list
On the basis of the domain value after given e and the ec quantification, question blank 2 can obtain the accurate controlled quentity controlled variable of corresponding fuzzy control, and this value multiply by scale factor k
uThe back is as final output quantity output.When the subordinate function of each input variable, controlled quentity controlled variable or its mutual fuzzy control rule change, should recomputate and definite fuzzy polling list.
7, proportional controller output speed direction
Follow the observed azimuth θ of robot according to what vision measurement provided, in conjunction with given observed azimuth θ to pilot robot
p, calculate angular deviation e
θ=θ
p-θ draws the output controlled quentity controlled variable u of proportional controller
θ=k
θe
θ, i.e. robot speed's direction.
8, the realization of robot motion's control
The concrete workflow of control method is seen Fig. 5.To be stored in robot interior in advance according to the velocity ambiguity control question blank that fuzzy control rule table is set up, the rate of change obfuscation of range deviation that in working control, will obtain in real time and deviation, output device people's velocity magnitude after obtaining required controlled quentity controlled variable and carry out corresponding conversion by the inquiry fuzzy polling list; Simultaneously obtain observed bearing angular displacement in real time, by the angle of proportional controller output device people deflection.When following robot and lose the trace of pilot robot, at n
pIn the individual performance period, think that visual information does not change,, follow robot and can search for if still do not find pilot robot.
Embodiment
Local following control method of multiple mobile robots of the present invention is applied in two robot coordinated controls, and robot adopts the AIM of Institute of Automation Research of CAS's development.Follow robot and obtain information by 1 road ccd video camera that is consistent with its dead ahead direction of motion, image pick-up card adopts the QP300 of company of Daheng.When pilot robot when circular trace is moved, follow the distance that robot expectation and pilot robot keep 65cm, 0 ° observed azimuth.When initial, follow robot and pilot robot apart from 196cm, 0 ° of observed azimuth.Input variable of fuzzy controller range deviation e, actual range deviation scope is decided to be [100,100]; Deviation variation rate ec, scope is [24,24].Output variable u, scope is [35,35].k
θ=1, u
θScope be defined as [30 °, 30 °].When range deviation e＞0, quantizing factor k
e=6/30, range deviation e≤0 o'clock, k
e=6/100; k
Ec=6/24; Scale factor k
u=35/7.n
pValue 5.Adopt method provided by the present invention, can satisfy actual demand, the range deviation curve of following the relative pilot robot of robot as shown in Figure 6, the observed azimuth deviation curve is as shown in Figure 7.
Claims (5)
1. a local following control method of multiple mobile robots is used for multi-robot system; It is characterized in that, comprise step:
A) vision measurement, each follow robot according to the colour code tube on the pilot robot determine with respect to pilot robot apart from d and observed azimuth θ;
B) according to the relative distance d of pilot robot, in conjunction with distance to a declared goal d
p, the rate of change ec of computed range deviation e and deviation is with the rate of change ec obfuscation of range deviation e and deviation, draw fuzzy control quantity according to fuzzy reasoning, provide accurate controlled quentity controlled variable behind the non-Defuzzication, accurately controlled quentity controlled variable is exported controlled quentity controlled variable u after multiply by scale factor, i.e. the size of speed;
C) according to observed azimuth θ, in conjunction with given observed azimuth θ to pilot robot
p, calculate angular deviation e
θ, as the input of proportional controller, it is output as controlled quentity controlled variable u
θ, i.e. the angle of robot deflection.
2. local following control method of multiple mobile robots as claimed in claim 1 is characterized in that described robot does not have communication each other.
3. local following control method of multiple mobile robots as claimed in claim 1, it is characterized in that described colour code tube is the cylindrical tube of hollow, is combined up and down by at least two kinds of colors, the colour code tube is put in the robot, and its center and robot center are consistent.
4. local following control method of multiple mobile robots as claimed in claim 1 is characterized in that, described accurate controlled quentity controlled variable obtains according to method of weighted mean.
5. local following control method of multiple mobile robots as claimed in claim 1 is characterized in that, described robot speed's size and Orientation is controlled by the output of fuzzy controller, the output of proportional controller respectively.
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| CN107943071A (en) * | 2017-11-03 | 2018-04-20 | 中国科学院自动化研究所 | The formation of unmanned vehicle keeps control method and system |
| CN107943071B (en) * | 2017-11-03 | 2020-02-07 | 中国科学院自动化研究所 | Formation maintaining control method and system for unmanned vehicle |
| CN109062204A (en) * | 2018-07-25 | 2018-12-21 | 南京理工大学 | It is a kind of based on follow pilotage people form into columns multiple mobile robot's control system |
| CN109634273A (en) * | 2018-11-30 | 2019-04-16 | 深圳大学 | The follow-up control method and device of movable equipment |
| CN109634273B (en) * | 2018-11-30 | 2021-11-19 | 深圳大学 | Following control method and device for movable equipment |
| CN109634310A (en) * | 2019-03-01 | 2019-04-16 | 郑州大学 | One kind is based on adaptive multirobot optimization formation control method and system |
| CN109634310B (en) * | 2019-03-01 | 2021-08-20 | 郑州大学 | Self-adaptive multi-robot-based optimized formation control method and system |
| CN110398963A (en) * | 2019-07-13 | 2019-11-01 | 珠海格力智能装备有限公司 | Trackless navigation correction control method, device, storage medium and controller |
| CN111310581A (en) * | 2020-01-17 | 2020-06-19 | 杭州电子科技大学 | Crowd safety assessment method based on fuzzy reasoning |
| CN111310581B (en) * | 2020-01-17 | 2023-04-25 | 杭州电子科技大学 | Crowd safety assessment method based on fuzzy reasoning |
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