CN102169346B - Intelligent control method for coordinating multiple-robot system - Google Patents

Intelligent control method for coordinating multiple-robot system Download PDF

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CN102169346B
CN102169346B CN 201110040377 CN201110040377A CN102169346B CN 102169346 B CN102169346 B CN 102169346B CN 201110040377 CN201110040377 CN 201110040377 CN 201110040377 A CN201110040377 A CN 201110040377A CN 102169346 B CN102169346 B CN 102169346B
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robot
odor source
source position
constantly
odor
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CN102169346A (en
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吕强
谢小高
罗平
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Shandong Evolver New Material Co ltd
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Hangzhou Dianzi University
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Abstract

The invention relates to an intelligent control method for coordinating a multiple-robot system. The multiple-robot system consumes excessive energy in the traditional method. The intelligent control method comprises the following steps of: according a kinematic model of a smell source releasing smell molecules, establishing an observation mode of a robot to the position of the smell source; within each sampling period, in case of any smell detected, estimating the position of the smell source according to Kalman filtering theory and the observation value of the robot to the position of the small source; based on the estimation value of the robot detecting the thickest smell source in the group to the position of the smell source, updating the estimation value of each robot to the position of the smell source, and using the estimation of the robot to the position of the smell source as the basis of estimation of the next position for the robot. The invention effectively improves the precision of positioning the smell source, guarantees less consumption of energy of the robot system, and meets the requirement for quick positioning in actual demands.

Description

A kind of intelligence control method of coordinating multi-robot system
Technical field
The invention belongs to technical field of automation, relate to a kind of intelligence control method of coordinating multi-robot system.
Background technology
There is very important meaning dangerous odor source location to human security, source of leaking as toxic gas in the source of location pollutant and the chemical plant etc.Therefore, how fast and effeciently locating dangerous odor source is an extremely important problem.Yet dangerous odor source orientation problem presents different characteristics under different environment.Usually, do not having under the condition of air-flow, the diffusion of scent molecule is a main strength, and it can drive scent molecule away from odor source.Maximum concentration will near appearance odor source.Therefore, we can use the method for gradient to locate odor source.Yet in the real world, air-flow is a kind of main strength that influences the smell diffusion, and it forms the plumage cigarette by influencing the motion of scent molecule.In the environment by high Reynolds number portrayal, the plumage cigarette presents uncontinuity and the intermittence of height, and this makes gradient method become infeasible.In addition, because extensibility and the robustness of multi-robot system make multi-robot system replace unit device robot system to become the main tool of dangerous odor source location.At present, the major control method that the coordination multi-robot system is located dangerous odor source is the colony intelligence technology, but, the position success rate of this technology is lower, also can make the too much energy of multi-robot system consumption, a chief reason is that this method has been utilized the concentration amplitude information, and the instability of concentration amplitude information tends to make the multi-robot system local convergence.In addition, just begun to start to walk for the research of the cooperation control method of multi-robot system in China, still do not proposed efficient ways.Under this background, the present invention has remedied the deficiencies in the prior art.
Summary of the invention
Target of the present invention is at the deficiencies in the prior art part, a kind of intelligence control method of coordinating multi-robot system has been proposed, this method is to be theoretical foundation with the Kalman filtering theory, design a kind of effective multi-robot system control method for coordinating, with can be fast and locate dangerous odor source exactly.This method has remedied the deficiency of traditional cooperative search mode, when guaranteeing that multi-robot system has high orientation precision and stability, also guarantees form simply and reduces the energy that multi-robot system consumes in the position fixing process.
The inventive method is made up of two algorithms, two algorithm parallel runnings, wherein first algorithm is responsible for estimating the odor source position, and offer second algorithm with the form of message, second algorithm is responsible for calculating robot's reposition according to the odor source position that state and first algorithm of current robot provides; Because the sampling period difference of two algorithms, if second algorithm do not obtain the up-to-date odor source location estimation value of first algorithm, then the odor source location estimation value that obtains with the last time is benchmark, if operation for the first time is benchmark with initial smell source position then.First algorithm is: at first, according to the kinematics model of odor source release scent molecule, set up robot for the observation model of odor source position; Then, in each sampling period, if detect smell, then use Kalman filtering theory and robot to the observed reading of odor source position, estimate the position of odor source; At last, based on the estimated value of the robot that detects maximum odorousness in the colony to the odor source position, upgrade each robot to the estimated value of odor source position, and use robot to the estimated value of the odor source position foundation as next step position of calculating robot.Second algorithm is: at first, set up two states of robot motion, namely state does not take place in odor detection event generation state and odor detection event; Then, in each sampling period, judge the residing state of robot, and according to different states and robot to the estimated value of odor source position, use diverse ways, produce next step position of robot; Secondly, design duration and the state conversion regime of these two states; At last, adopt consistency algorithm drive machines people to move next step position from current location to robot.
Technical scheme of the present invention is by means such as Data Detection, on-line optimization, the assessments of odor source position probability distribution, has established a kind of intelligence control method of coordinating multi-robot system, utilizes this method can effectively improve dangerous odor source locating accuracy.
The inventive method (
Figure 8667DEST_PATH_IMAGE002
) move in the individual robot, wherein the sampling period of first algorithm is
Figure 786130DEST_PATH_IMAGE004
, concrete steps are as follows:
(1) utilize the kinematics model of scent molecule, set up the observation model of odor source position, concrete grammar is:
A. set up the motion model of scent molecule group, obtain the position of scent molecule group:
The motion model of scent molecule group is:
Figure 640691DEST_PATH_IMAGE006
Wherein,
Figure 870815DEST_PATH_IMAGE008
Refer to that scent molecule group exists
Figure 603279DEST_PATH_IMAGE010
Position constantly;
Figure 297566DEST_PATH_IMAGE012
Refer to that scent molecule group exists
Figure 385345DEST_PATH_IMAGE010
The differential of moment position;
Figure 368345DEST_PATH_IMAGE014
Be
Figure 701237DEST_PATH_IMAGE010
Average wind speed degree constantly;
Figure 187713DEST_PATH_IMAGE016
Represent a stochastic process, it is zero that this process is obeyed average, and variance is
Figure 711973DEST_PATH_IMAGE018
Gaussian distribution;
To the motion model of scent molecule group the time period [
Figure 916689DEST_PATH_IMAGE020
,
Figure 850010DEST_PATH_IMAGE022
] (
Figure 456572DEST_PATH_IMAGE024
) in carry out integration, obtain scent molecule group and exist
Figure 653198DEST_PATH_IMAGE020
Constantly discharged by odor source, at current time
Figure 2011100403776100002DEST_PATH_IMAGE025
The time the position:
Figure 2011100403776100002DEST_PATH_IMAGE027
Wherein, [
Figure 521709DEST_PATH_IMAGE020
,
Figure 524300DEST_PATH_IMAGE025
] refer to time period of integration,
Figure 47686DEST_PATH_IMAGE020
Refer to that odor source discharges the time of scent molecule group,
Figure 149634DEST_PATH_IMAGE022
Refer to the current time;
Figure 2011100403776100002DEST_PATH_IMAGE029
Refer in the current time
Figure 2011100403776100002DEST_PATH_IMAGE031
The position of scent molecule group; Be constantly
Figure 2011100403776100002DEST_PATH_IMAGE035
The position of odor source;
B. determine the discrete motion model of scent molecule group:
By definition
Figure 2011100403776100002DEST_PATH_IMAGE037
With
Figure 2011100403776100002DEST_PATH_IMAGE039
, with the position discretize of scent molecule group; Wherein constantly discrete
Figure 2011100403776100002DEST_PATH_IMAGE041
Be that odor source discharges scent molecule group's time
Figure 2011100403776100002DEST_PATH_IMAGE042
Round values; Constantly discrete
Figure 14428DEST_PATH_IMAGE043
It is the current time Round values;
Figure DEST_PATH_IMAGE046
Refer to the subtle change of time; Thereby the discrete motion model of scent molecule group is:
Wherein, the odor source position is static within a certain period of time, so have
Figure DEST_PATH_IMAGE050
Figure DEST_PATH_IMAGE052
The expression odor source exists Constantly discharge scent molecule group,
Figure 119973DEST_PATH_IMAGE053
Position constantly;
Figure DEST_PATH_IMAGE055
Be illustrated in the time period [
Figure 658402DEST_PATH_IMAGE041
,
Figure 121744DEST_PATH_IMAGE043
] interior wind promotes the displacement of scent molecule group; The expression stochastic process, obeying average is zero, variance
Figure 901799DEST_PATH_IMAGE059
Normal distribution.
Consider scent molecule group all possibilities of release time, namely
Figure 861663DEST_PATH_IMAGE061
Figure 15564DEST_PATH_IMAGE063
Then the discrete motion model of scent molecule group further is expressed as follows:
Figure 835752DEST_PATH_IMAGE065
Wherein, For
Figure 802888DEST_PATH_IMAGE053
The position that moment scent molecule is rolled into a ball;
Figure DEST_PATH_IMAGE069
For
Figure 677041DEST_PATH_IMAGE043
The position of moment odor source; For
Figure 300920DEST_PATH_IMAGE043
Wind promotes the mobile distance of scent molecule group constantly;
Figure 445594DEST_PATH_IMAGE073
Be to measure noise, and obey zero-mean,
Figure DEST_PATH_IMAGE075
The normal distribution of variance.
C. by definition , can obtain the observation model of odor source position:
Figure DEST_PATH_IMAGE079
Wherein,
Figure DEST_PATH_IMAGE081
Be iIndividual robot is constantly
Figure DEST_PATH_IMAGE083
To the odor source position
Figure 808311DEST_PATH_IMAGE084
Measured value.
(2) observation model of use odor source position produces robot to the observed reading of odor source position, and uses the Kalman filtering theory, obtains the estimated value of odor source position.Concrete grammar is:
A. before obtaining the observed reading of robot to the odor source position, obtain priori estimates and the priori covariance matrix of odor source position.
Figure 671225DEST_PATH_IMAGE086
Figure 895533DEST_PATH_IMAGE088
Wherein,
Figure DEST_PATH_IMAGE090
The expression robot exists to the odor source position Posterior estimate constantly;
Figure DEST_PATH_IMAGE094
Be that robot exists to the odor source position
Figure 534193DEST_PATH_IMAGE043
Priori estimates constantly;
Figure DEST_PATH_IMAGE096
Be to exist about the odor source position
Figure 756227DEST_PATH_IMAGE092
Posteriority covariance matrix constantly;
Figure DEST_PATH_IMAGE098
Exist about the odor source position
Figure 345252DEST_PATH_IMAGE043
Priori covariance matrix constantly.
B. work as robot by the observation model to the odor source position, when obtaining the observed reading of odor source position, upgrade the priori estimates of following formula odor source position, calculate the posterior estimate of odor source position, concrete computing formula is as follows:
Figure DEST_PATH_IMAGE100
Figure 310934DEST_PATH_IMAGE102
Figure 430200DEST_PATH_IMAGE104
Wherein,
Figure DEST_PATH_IMAGE106
Be to measure noise covariance matrix;
Figure DEST_PATH_IMAGE108
It is the Kalman gain; The expression robot exists to the odor source position
Figure 259354DEST_PATH_IMAGE043
Posterior estimate constantly; Be to exist about the odor source position Posteriority covariance matrix constantly.
(3) use detects the robot of Cmax amplitude to the estimated value of odor source position, upgrades current robot to the estimated value of odor source position, that is:
Figure DEST_PATH_IMAGE114
Wherein,
Figure DEST_PATH_IMAGE116
With
Figure DEST_PATH_IMAGE118
Be to regulate parameter;
Figure 974555DEST_PATH_IMAGE120
Expression the
Figure DEST_PATH_IMAGE122
Individual robot exists to the odor source position
Figure 948327DEST_PATH_IMAGE043
Estimated value constantly, in addition the
Figure 512163DEST_PATH_IMAGE122
Individual robot also is the robot that obtains the Cmax amplitude information.
(4) go on foot the estimated value of restarting to carry out and provide the odor source position from (2)
The sampling period of second algorithm of this method is
Figure DEST_PATH_IMAGE124
(
Figure 941188DEST_PATH_IMAGE043
), namely the sampling period of two of this method algorithms is inconsistent, two algorithm executed in parallel.In second algorithm of this method, robot has two states, and a state is: odor detection event generation state; Another state is: state does not take place in the odor detection event.Concrete steps are as follows:
In the sampling period
Figure 330635DEST_PATH_IMAGE125
The interior state of judging robot; If the state of robot is odor detection event generation state, execution in step a; Otherwise execution in step b.
If the current state of robot a., namely odor detection event generation state is just from the odor detection event state-transition not to take place to come, and then execution in step 1.; Otherwise execution in step 2..
1. based on the latest estimated value of odor source position (the estimated value relation that this estimated value and first algorithm provide is to satisfy when the sampling period
Figure 785068DEST_PATH_IMAGE129
The time, ), then next step position of robot is the latest estimated value of odor source position, namely
Wherein,
Figure DEST_PATH_IMAGE135
Be
Figure DEST_PATH_IMAGE137
Constantly the iThe position of individual robot;
Figure DEST_PATH_IMAGE139
It is the duration of this state;
Figure 381014DEST_PATH_IMAGE140
Be illustrated in
Figure DEST_PATH_IMAGE141
The robot that obtains is to the estimated value of odor source position constantly.
2. it is mobile to adopt consistency algorithm control robot to continue, and the execution time is
Figure 851048DEST_PATH_IMAGE142
Second.Surpass when the duration of this state
Figure 562652DEST_PATH_IMAGE142
After second, the state of robot is automatically changeb to the odor detection event state does not take place.
If the current state of robot b., namely not generation of odor detection event state is just to come from odor detection event generation state-transition, and then execution in step 1.; Otherwise execution in step 2..
1. based on the latest estimated value of odor source position With the velocity information of wind, next step position of calculating robot.
Figure 769959DEST_PATH_IMAGE144
Figure 25491DEST_PATH_IMAGE146
Wherein:
Figure DEST_PATH_IMAGE148
With
Figure DEST_PATH_IMAGE150
Be respectively that wind exists
Figure DEST_PATH_IMAGE152
The axle and
Figure 858230DEST_PATH_IMAGE154
Axial speed;
Figure 781187DEST_PATH_IMAGE156
Be iIndividual robot exists
Figure 90945DEST_PATH_IMAGE124
Constantly exist for odor source position latest estimated value
Figure 332309DEST_PATH_IMAGE152
Axial coordinate;
Figure 385715DEST_PATH_IMAGE158
The iIndividual robot exists
Figure 163178DEST_PATH_IMAGE160
The position exists constantly
Figure 643838DEST_PATH_IMAGE152
Axial coordinate;
Figure 139542DEST_PATH_IMAGE162
With
Figure 668743DEST_PATH_IMAGE164
The iIndividual robot exists
Figure 628609DEST_PATH_IMAGE166
The position exists constantly
Figure 716388DEST_PATH_IMAGE152
The axle and
Figure DEST_PATH_IMAGE167
Axial coordinate;
Figure 433809DEST_PATH_IMAGE169
It is the duration of state.
2. it is mobile to adopt consistency algorithm control robot to continue, and the execution time is
Figure 766701DEST_PATH_IMAGE169
Second.In mobile process, if robot detects odorousness information, then the state-transition of robot is odor detection event generation state; If in the time
Figure 581073DEST_PATH_IMAGE169
After second, do not detect odorousness, recomputate next step position of robot.Concrete grammar is:
Figure 341219DEST_PATH_IMAGE171
Wherein,
Figure 243371DEST_PATH_IMAGE175
With Be respectively control
Figure 843296DEST_PATH_IMAGE152
The axle and
Figure 535309DEST_PATH_IMAGE154
The control parameter of direction of principal axis hunting zone,
Figure 537900DEST_PATH_IMAGE179
Produce an equally distributed random number in the scope.
И restarted to carry out from the step, and in the robot of colony, the detected odorousness of some robots reaches preset value, or judges odor source by vision sensor, notified the by wireless network then iIndividual robot, or surpass prior official hour search time, then finish operation.
A kind of intelligence control method of coordinating multi-robot system that the present invention proposes, this method has remedied the deficiency of classic method, and improve the odor source locating accuracy effectively, and guarantee the less consumption of multi-robot system energy, satisfy requiring the requirement of location fast in the reality simultaneously.
The intelligence control method that the present invention proposes can be estimated the probability distribution of odor source position effectively, allows the Security Officer understand the situation of present dangerous smell diffusion better, further remedies the deficiency of classic method.In addition, at any time, can know the possible position of dangerous odor source.
Embodiment
Leaking with the industrial gasses conveyance conduit is example:
Here leaking with the industrial gasses conveyance conduit is that example is described.May set up 2 dimension local coordinate systems by the gas leakage point, and (every 1 second, the record primary air velocity recorded 100 altogether for robot installation wind gage is measured local wind speed.In case the quantity of wind speed information has surpassed 100, then replace old wind speed information with new wind speed information) and the position of odometer metering robot in local coordinate system, be robot mounting industrial toxic gas pick-up unit simultaneously.And maximum line velocity and the angular velocity of setting robot.For iIndividual robot begins to carry out following steps:
1, search smell clue.
Multi-robot system at first edge and the current wind speed direction of intersecting advances, search for the smell clue, in case detect the smell clue, then start the intelligence control method of coordinating multi-robot system, and the initialization robot is to estimated value and the covariance matrix of odor source position, and the current state of robot is odor detection event generation state.Began to carry out the 2nd step; Otherwise continued to carry out the 1st step.
2, the intelligence control method of coordination multi-robot system begins to carry out, and namely two algorithms are based on different sampling period executed in parallel.
For first algorithm (sampling period is 1 second), carry out following steps:
(1) calculates the move distance that scent molecule is rolled into a ball.
Figure 452764DEST_PATH_IMAGE061
Figure DEST_PATH_IMAGE183
Wherein,
Figure DEST_PATH_IMAGE185
Be iWind speed constantly, Then, calculate the measurement noise covariance matrix.
Figure DEST_PATH_IMAGE189
Wherein,
Figure 430079DEST_PATH_IMAGE106
Be to measure noise covariance matrix; Standard deviation
Figure DEST_PATH_IMAGE191
Can specify in advance based on experience.
(2) based on the Kalman filtering theory, obtain robot to the estimated value of odor source position.
The first step before obtaining the observed reading of robot to the odor source position, obtains priori estimates and the priori covariance matrix of odor source position.
Figure 107923DEST_PATH_IMAGE086
Figure 648625DEST_PATH_IMAGE088
Wherein,
Figure 964200DEST_PATH_IMAGE090
The expression robot exists to the odor source position
Figure 564946DEST_PATH_IMAGE092
Posterior estimate constantly;
Figure 965971DEST_PATH_IMAGE094
Be that robot exists to the odor source position Priori estimates constantly;
Figure 854348DEST_PATH_IMAGE096
Be to exist about the odor source position
Figure 563678DEST_PATH_IMAGE092
Posteriority covariance matrix constantly;
Figure 514316DEST_PATH_IMAGE098
Exist about the odor source position
Figure 396821DEST_PATH_IMAGE043
Priori covariance matrix constantly.
Second step, when robot by to the observation model of odor source position, when obtaining the observed reading of odor source position, upgrade the priori estimates of following formula odor source position, calculate the posterior estimate of odor source position, concrete computing formula is as follows:
Figure DEST_PATH_IMAGE193
Figure 123207DEST_PATH_IMAGE100
Figure 65755DEST_PATH_IMAGE102
Figure 503690DEST_PATH_IMAGE104
Wherein,
Figure 127569DEST_PATH_IMAGE106
Be to measure noise covariance matrix;
Figure 334559DEST_PATH_IMAGE108
It is the Kalman gain;
Figure 385692DEST_PATH_IMAGE110
The expression robot exists to the odor source position
Figure 310923DEST_PATH_IMAGE043
Posterior estimate constantly;
Figure 472914DEST_PATH_IMAGE112
Be to exist about the odor source position
Figure 799990DEST_PATH_IMAGE043
Posteriority covariance matrix constantly.
(3) use detects the robot of Cmax amplitude to the estimated value of odor source position, upgrades current robot to the estimated value of odor source position, that is:
Figure 818761DEST_PATH_IMAGE114
Wherein, With
Figure DEST_PATH_IMAGE197
Be to regulate parameter;
Figure 611049DEST_PATH_IMAGE120
Expression the
Figure 576731DEST_PATH_IMAGE122
Individual robot exists to the odor source position
Figure 758314DEST_PATH_IMAGE043
Estimated value constantly, in addition the
Figure 151249DEST_PATH_IMAGE122
Individual robot also is the robot that obtains the Cmax amplitude information.
(4) restart to carry out from (1) step, and the estimated value of odor source position is provided
Figure 785492DEST_PATH_IMAGE110
For second algorithm, carry out following steps:
Judge the state of robot in each sampling period (0.01 second); If the state of robot is odor detection event generation state, execution in step a; Otherwise execution in step b.
If the current state of robot a., namely odor detection event generation state is just from the odor detection event state-transition not to take place to come, and then execution in step 1.; Otherwise execution in step 2..
Send a request message 1. for first algorithm, obtain the latest estimated value of current odor source position
Figure 351603DEST_PATH_IMAGE140
, next step position of calculating robot:
Figure 89490DEST_PATH_IMAGE133
Wherein,
Figure 715643DEST_PATH_IMAGE198
Be
Figure DEST_PATH_IMAGE199
Constantly the iThe position of individual robot; It is the duration of this state;
Figure 82350DEST_PATH_IMAGE140
Be illustrated in
Figure 176208DEST_PATH_IMAGE124
The robot that obtains is to the estimated value of odor source position constantly.
2. it is mobile to adopt consistency algorithm control robot to continue, and the execution time is 10 seconds.After the duration of this state surpassed 10 seconds, the state of robot was automatically changeb to the odor detection event state does not take place.
If the current state of robot b., namely not generation of odor detection event state is just to come from odor detection event generation state-transition, and then execution in step 1.; Otherwise execution in step 2..
Send a request message 1. for first algorithm, obtain the latest estimated value of odor source position , and the velocity information of the wind of measuring according to air velocity transducer, next step position of calculating robot.
Figure DEST_PATH_IMAGE202
Figure 18317DEST_PATH_IMAGE203
Wherein:
Figure DEST_PATH_IMAGE204
With Be respectively that wind exists
Figure 812278DEST_PATH_IMAGE152
The axle and
Figure 717917DEST_PATH_IMAGE154
Axial speed;
Figure 814049DEST_PATH_IMAGE156
Be iIndividual robot exists Constantly exist for odor source position latest estimated value
Figure 827059DEST_PATH_IMAGE152
Axial coordinate;
Figure 965917DEST_PATH_IMAGE158
The iIndividual robot exists
Figure 487028DEST_PATH_IMAGE160
The position exists constantly
Figure 2323DEST_PATH_IMAGE152
Axial coordinate;
Figure 659700DEST_PATH_IMAGE162
With
Figure DEST_PATH_IMAGE205
The iIndividual robot exists
Figure 907142DEST_PATH_IMAGE166
The position exists constantly
Figure 977866DEST_PATH_IMAGE152
The axle and Axial coordinate;
Figure DEST_PATH_IMAGE207
It is the duration of state.
2. it is mobile to adopt consistency algorithm control robot to continue, and the execution time is 30 seconds.In mobile process, if robot detects odorousness information, then the state-transition of robot is odor detection event generation state; If after 30 seconds time, do not detect odorousness, recomputate next step position of robot.Concrete grammar is:
Figure 239095DEST_PATH_IMAGE171
Figure 719755DEST_PATH_IMAGE208
Wherein, With
Figure 744659DEST_PATH_IMAGE212
Be respectively The axle and
Figure 792305DEST_PATH_IMAGE167
The control parameter of direction of principal axis hunting zone,
Figure 509725DEST_PATH_IMAGE179
Figure 904934DEST_PATH_IMAGE181
Produce an equally distributed random number in the scope.
И restarted to carry out from the step, and in the robot of colony, the detected odorousness of some robots reaches preset value, or judges odor source by vision sensor, notified the by wireless network then iIndividual robot, or surpass prior official hour search time, then stop execution in step, finish.

Claims (1)

1. an intelligence control method of coordinating multi-robot system is characterized in that this method comprises two steps: at first at moment k 1Calculate the estimated value of odor source position in the sampling period at place , then at moment k 2The sampling period at place is interior based on estimated value
Figure 786613DEST_PATH_IMAGE001
Calculate the position of robot, wherein k 1K 2
The estimated value of described odor source position
Figure 566350DEST_PATH_IMAGE001
Concrete computing method as follows:
(1) utilize the kinematics model of scent molecule group, set up the observation model of odor source position, concrete grammar is:
A. set up the motion model of scent molecule group, obtain the position of scent molecule group:
The motion model of scent molecule group is:
Figure 23876DEST_PATH_IMAGE002
Wherein, r (t) refers to that scent molecule group exists
Figure 149833DEST_PATH_IMAGE003
Position constantly;
Figure 972296DEST_PATH_IMAGE004
Refer to that scent molecule group exists The differential of moment position; U (t) be
Figure 500546DEST_PATH_IMAGE003
Average wind speed degree constantly;
Figure 982474DEST_PATH_IMAGE005
Represent a stochastic process, it is zero that this process is obeyed average, and variance is
Figure 975838DEST_PATH_IMAGE006
Gaussian distribution;
To the motion model of scent molecule group the time period [
Figure 344547DEST_PATH_IMAGE007
,
Figure 143876DEST_PATH_IMAGE008
] (
Figure 480310DEST_PATH_IMAGE009
) in carry out integration, obtain scent molecule group and exist
Figure 972472DEST_PATH_IMAGE010
Constantly discharged by odor source, at current time
Figure 531541DEST_PATH_IMAGE011
The time the position:
Figure 806664DEST_PATH_IMAGE012
Wherein, [
Figure 512452DEST_PATH_IMAGE010
,
Figure 660668DEST_PATH_IMAGE011
] refer to time period of integration,
Figure 389590DEST_PATH_IMAGE010
Refer to that odor source discharges the time of scent molecule group,
Figure 468404DEST_PATH_IMAGE008
Refer to the current time;
Figure 28698DEST_PATH_IMAGE013
Refer in the current time
Figure 111930DEST_PATH_IMAGE014
The position of scent molecule group;
Figure 62568DEST_PATH_IMAGE015
Be constantly
Figure 820440DEST_PATH_IMAGE016
The position of odor source;
B. determine the discrete motion model of scent molecule group:
By definition
Figure 235241DEST_PATH_IMAGE017
With
Figure 177789DEST_PATH_IMAGE018
, with the position discretize of scent molecule group; Wherein constantly discrete
Figure 927308DEST_PATH_IMAGE019
Be that odor source discharges scent molecule group's time
Figure 410242DEST_PATH_IMAGE020
Round values; Constantly discrete
Figure 695861DEST_PATH_IMAGE021
It is the current time
Figure 871627DEST_PATH_IMAGE022
Round values; Refer to the subtle change of time; Thereby the discrete motion model of scent molecule group is:
Figure 332750DEST_PATH_IMAGE024
Wherein, the odor source position is static within a certain period of time, so have
Figure 456564DEST_PATH_IMAGE025
Figure 740915DEST_PATH_IMAGE026
The expression odor source exists
Figure 966491DEST_PATH_IMAGE019
Constantly discharge scent molecule group,
Figure 994490DEST_PATH_IMAGE027
Position constantly;
Figure 238389DEST_PATH_IMAGE028
Be illustrated in the time period [
Figure 757225DEST_PATH_IMAGE019
,
Figure 719365DEST_PATH_IMAGE021
] interior wind promotes the displacement of scent molecule group;
Figure 285475DEST_PATH_IMAGE029
The expression stochastic process, obeying average is zero, variance
Figure 400193DEST_PATH_IMAGE030
Normal distribution;
Consider scent molecule group all possibilities of release time, namely
Figure 760767DEST_PATH_IMAGE031
Figure 210203DEST_PATH_IMAGE032
Then the discrete motion model of scent molecule group further is expressed as follows:
Wherein, For The position that moment scent molecule is rolled into a ball; For
Figure 236934DEST_PATH_IMAGE021
The position of moment odor source;
Figure 247615DEST_PATH_IMAGE036
For
Figure 277888DEST_PATH_IMAGE021
Wind promotes the mobile distance of scent molecule group constantly;
Figure 374020DEST_PATH_IMAGE037
Be to measure noise, and obey zero-mean,
Figure 397208DEST_PATH_IMAGE038
The normal distribution of variance;
C. by definition
Figure 324713DEST_PATH_IMAGE039
, obtain the observation model of odor source position:
Figure 463570DEST_PATH_IMAGE040
Wherein,
Figure 860048DEST_PATH_IMAGE041
Be that i robot is constantly
Figure 172081DEST_PATH_IMAGE042
To the odor source position
Figure 157354DEST_PATH_IMAGE035
Measured value;
(2) observation model of use odor source position produces robot to the observed reading of odor source position, and uses the Kalman filtering theory, obtains the estimated value of odor source position; Concrete grammar is:
D. before obtaining the observed reading of robot to the odor source position, obtain priori estimates and the priori covariance matrix of odor source position;
Figure 778697DEST_PATH_IMAGE043
Figure 849421DEST_PATH_IMAGE044
Wherein,
Figure 965145DEST_PATH_IMAGE045
The expression robot exists to the odor source position
Figure 617974DEST_PATH_IMAGE046
Posterior estimate constantly;
Figure 98634DEST_PATH_IMAGE047
Be that robot exists to the odor source position
Figure 453392DEST_PATH_IMAGE021
Priori estimates constantly;
Figure 310490DEST_PATH_IMAGE048
Be to exist about the odor source position
Figure 322220DEST_PATH_IMAGE046
Posteriority covariance matrix constantly;
Figure 973781DEST_PATH_IMAGE049
Exist about the odor source position
Figure 81415DEST_PATH_IMAGE021
Priori covariance matrix constantly;
E. work as robot by the observation model to the odor source position, when obtaining the observed reading of odor source position, upgrade the priori estimates of odor source position, calculate the posterior estimate of odor source position, concrete computing formula is as follows:
Figure 476624DEST_PATH_IMAGE050
Figure 838466DEST_PATH_IMAGE051
Figure 988825DEST_PATH_IMAGE052
Wherein,
Figure 255858DEST_PATH_IMAGE053
Be to measure noise covariance matrix;
Figure 766343DEST_PATH_IMAGE054
It is the Kalman gain; The expression robot exists to the odor source position
Figure 490902DEST_PATH_IMAGE021
Posterior estimate constantly; Be to exist about the odor source position
Figure 795293DEST_PATH_IMAGE021
Posteriority covariance matrix constantly;
(3) use detects the robot of Cmax amplitude to the estimated value of odor source position, upgrades current robot to the estimated value of odor source position, that is:
Figure 318678DEST_PATH_IMAGE057
Wherein, With
Figure 98470DEST_PATH_IMAGE059
Be to regulate parameter;
Figure 639173DEST_PATH_IMAGE060
Expression the
Figure 344960DEST_PATH_IMAGE061
Individual robot exists to the odor source position
Figure 493176DEST_PATH_IMAGE021
Estimated value constantly, in addition the
Figure 222098DEST_PATH_IMAGE061
Individual robot also is the robot that obtains the Cmax amplitude information;
(4) go on foot the estimated value of restarting to carry out and provide the odor source position from (2)
Figure 300912DEST_PATH_IMAGE055
The concrete computing method of the position of described robot are as follows:
In the sampling period
Figure 861206DEST_PATH_IMAGE062
The interior state of judging robot; If the state of robot is odor detection event generation state, execution in step a; Otherwise execution in step b;
If the current state of robot a., namely odor detection event generation state is just from the odor detection event state-transition not to take place to come, and then execution in step 1.; Otherwise execution in step 2.;
1. based on the latest estimated value of odor source position
Figure 367274DEST_PATH_IMAGE063
, then next step position of robot is the latest estimated value of odor source position, namely
Figure 895076DEST_PATH_IMAGE064
Wherein,
Figure 839899DEST_PATH_IMAGE065
Be The position of i robot constantly;
Figure 947980DEST_PATH_IMAGE067
It is the duration of this state;
Figure 385915DEST_PATH_IMAGE068
Be illustrated in
Figure 868849DEST_PATH_IMAGE069
The robot that obtains is to the estimated value of odor source position constantly;
2. it is mobile to adopt consistency algorithm control robot to continue, and the execution time is
Figure 647143DEST_PATH_IMAGE067
Second; Surpass when the duration of this state
Figure 495014DEST_PATH_IMAGE067
After second, the state of robot is automatically changeb to the odor detection event state does not take place;
If the current state of robot b., namely not generation of odor detection event state is just to come from odor detection event generation state-transition, and then execution in step 3.; Otherwise execution in step 4.;
3. based on the latest estimated value of odor source position With the velocity information of wind, next step position of calculating robot;
Figure 706869DEST_PATH_IMAGE070
Figure 33945DEST_PATH_IMAGE071
Wherein:
Figure 131345DEST_PATH_IMAGE072
With
Figure 606189DEST_PATH_IMAGE073
Be respectively that wind exists The axle and Axial speed; Be that i robot exists
Figure 279168DEST_PATH_IMAGE069
Constantly exist for odor source position latest estimated value
Figure 658328DEST_PATH_IMAGE074
Axial coordinate;
Figure 694417DEST_PATH_IMAGE077
I robot exists
Figure 382887DEST_PATH_IMAGE078
The position exists constantly
Figure 770006DEST_PATH_IMAGE074
Axial coordinate;
Figure 185813DEST_PATH_IMAGE079
With
Figure 341988DEST_PATH_IMAGE080
I robot exists
Figure 201359DEST_PATH_IMAGE081
The position exists constantly
Figure 810195DEST_PATH_IMAGE074
The axle and Axial coordinate;
Figure 807418DEST_PATH_IMAGE083
It is the duration of state;
4. it is mobile to adopt consistency algorithm control robot to continue, and the execution time is
Figure 837691DEST_PATH_IMAGE083
Second; In mobile process, if robot detects odorousness information, then the state-transition of robot is odor detection event generation state; If in the time
Figure 933823DEST_PATH_IMAGE083
After second, do not detect odorousness, recomputate next step position of robot; Concrete grammar is:
Figure 691432DEST_PATH_IMAGE084
Figure 822199DEST_PATH_IMAGE085
Wherein,
Figure 23373DEST_PATH_IMAGE086
With
Figure 419851DEST_PATH_IMAGE087
Be respectively control The axle and
Figure 717157DEST_PATH_IMAGE075
The control parameter of direction of principal axis hunting zone,
Figure 26916DEST_PATH_IMAGE088
Figure 415084DEST_PATH_IMAGE089
Produce an equally distributed random number in the scope;
И restarted to carry out from the step, in the robot of colony, the detected odorousness of some robots reaches preset value, or judge odor source by vision sensor, notify i robot by wireless network then, or search time when surpassing prior official hour, then finish.
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