CN104238554A - Movable body formation control method through wireless sensor network - Google Patents
Movable body formation control method through wireless sensor network Download PDFInfo
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- CN104238554A CN104238554A CN201310234416.5A CN201310234416A CN104238554A CN 104238554 A CN104238554 A CN 104238554A CN 201310234416 A CN201310234416 A CN 201310234416A CN 104238554 A CN104238554 A CN 104238554A
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- formation
- dolly
- control method
- carts
- command
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Abstract
The invention discloses a movable body formation control method through a wireless sensor network, belongs to the field of a robot control system, and relates to a novel formation control method. Based on the embedded ARM technology, by combining the information collecting and control technology, the Zig Bee wireless communication technology and the ultrasonic wave sensing technology, information like positioning information of carts is collected. Position data of the carts are received through a controller and are judged, a command is sent, and following carts receive the command and change the formation mode, so that the whole cart team is converted into the needed formation under the lead of a leading cart. The movable body formation control method through the wireless sensor network has the function that the following carts can be fed back to the controller, then guarantees that the following carts receive the command and execute the command, and is a novel method for controlling the array to be in the needed formation.
Description
Technical field
The invention belongs to wireless sense network application, for a kind of new approach to formation control that robot control system proposes.The present invention possesses and follows the function that dolly feeds back to controller, thus realizes leader's dolly dolly of guaranteeing to go along with the team and receive orders and exectorial function.
Background technology
1. various sensor: sensor miscellaneous, with beyond example speed, degree of accuracy, size and cost advantage, makes application become possibility.
2. embedded technology: embed controller because of many advantages such as its volume are little, reliability is high, function is strong, flexible, its application has been deep into the every field such as industry, agricultural, scientific research and daily life.
Summary of the invention
The object of the invention is to realize a kind of novel dolly formation control algorithm.Specific implementation comprises the following steps:
(1) dolly current information is delivered to controller;
(2) controller calculates the position of following dolly and will arrive;
(3) moving of car direction is controlled according to destination locations;
The present invention receives dolly position data by controller, judge that Data Concurrent is lost one's life order, receives order with team's dolly, changes the mode of formation, and realization dolly of leading a group leads whole fleet to be transformed into the method for required formation.
Embodiment
A). transmit current information, the embedded board based on ARM11 is core, is made up of core board, base plate and communication module, based on wireless communication technology, realizes the present co-ordinate position information with team's dolly to be sent on ARM11; Wherein ARM11 is connected with telegon zigbee2530, and dolly is connected with terminal device zigbee2530 node.
B). calculate dolly destination locations of going along with the team;
Step 1 telegon receive all dollies (N0, N1, N2 ...) the current position coordinates Ni (xi, yi) that sent by terminal device zigbee2530, i=0,1,2, ... be leader's dolly position coordinates when n, i=0, θ i represents with the original working direction of team's dolly and the angle controlling yawing moment, and send controller to by serial ports, by the value of θ i, calculate required forward travel distance Si, Si=(| xi-x0|/sin θ i).
Step 2 due to dolly of going along with the team be horizontally-arranged at one on, and leader's dolly is positioned at all with the position in the middle of team's Plantago minuta Founder, then go along with the team dolly target location G (gi, hi) horizontal ordinate xi is known, be the horizontal ordinate of leader, calculate target location ordinate with hi=(| xi-x0|/tan θ i), final goal position is G (x0, hi).
C). control moving of car direction;
Step 1 controller is broadcasted by telegon zigbee2530, give an order to all with team's dolly, control the value of dolly whichaway motion and θ i and the value of motion how many distances and Si respectively, make all dollies of going along with the team finally move to the state of a straight line, and adjust dolly working direction and make it towards original working direction.
Step 2 is when all with after team's dolly all arrives destination locations, and send complete signal respectively to telegon zigbee2530 when namely all dolly horizontal ordinates are equal, telegon zigbee2530 passes to controller by serial ports again.
By the order that telegon zigbee advances to all dolly broadcast after step 3 controller receives signal, whole troop is made to become row to travel forward.
Claims (1)
1. a new approach to formation control, is characterized in that, the method contains following content:
(1) structure of hardware: with the embedded board based on ARM11 for core, be made up of core board, base plate and communication module;
(2) data acquisition: communication module comprises ultrasonic sensor, zigbee etc.;
(3) formation control technology: adopt information acquisition and control technology, in conjunction with ZigBee wireless communication technology, Supersonic, receive dolly position data by controller, judge that Data Concurrent is lost one's life order, receive order with team's dolly, change the mode of formation, realize leader's dolly and lead whole fleet to be transformed into the method for required formation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310234416.5A CN104238554A (en) | 2013-06-14 | 2013-06-14 | Movable body formation control method through wireless sensor network |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310234416.5A CN104238554A (en) | 2013-06-14 | 2013-06-14 | Movable body formation control method through wireless sensor network |
Publications (1)
| Publication Number | Publication Date |
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| CN104238554A true CN104238554A (en) | 2014-12-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310234416.5A Pending CN104238554A (en) | 2013-06-14 | 2013-06-14 | Movable body formation control method through wireless sensor network |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106354132A (en) * | 2016-09-09 | 2017-01-25 | 北京小米移动软件有限公司 | Balance car control method and balance car control device |
| CN107544497A (en) * | 2017-09-07 | 2018-01-05 | 南京昱晟机器人科技有限公司 | A kind of autonomous operation machinery remote runs node control method |
| CN107767658A (en) * | 2016-08-15 | 2018-03-06 | 福特全球技术公司 | Form a team autonomous vehicle navigation sensor exchange |
| CN108664024A (en) * | 2018-05-08 | 2018-10-16 | 清华大学 | The motion planning and Cooperative Localization Method and device that unmanned vehicle network is formed into columns |
| CN109032128A (en) * | 2018-06-13 | 2018-12-18 | 江南大学 | The triangle formation control method of the discrete non-particle system of more AGV |
| CN109116840A (en) * | 2017-06-23 | 2019-01-01 | 大众汽车有限公司 | Equipment, method and computer program, system of forming a team for local form a team controller and global controller of forming a team |
-
2013
- 2013-06-14 CN CN201310234416.5A patent/CN104238554A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107767658A (en) * | 2016-08-15 | 2018-03-06 | 福特全球技术公司 | Form a team autonomous vehicle navigation sensor exchange |
| CN107767658B (en) * | 2016-08-15 | 2022-02-08 | 福特全球技术公司 | Team autonomous vehicle navigation sensor interchange |
| CN106354132A (en) * | 2016-09-09 | 2017-01-25 | 北京小米移动软件有限公司 | Balance car control method and balance car control device |
| CN109116840A (en) * | 2017-06-23 | 2019-01-01 | 大众汽车有限公司 | Equipment, method and computer program, system of forming a team for local form a team controller and global controller of forming a team |
| CN109116840B (en) * | 2017-06-23 | 2022-06-21 | 大众汽车有限公司 | Apparatus, method, computer-readable medium and system for team control |
| CN107544497A (en) * | 2017-09-07 | 2018-01-05 | 南京昱晟机器人科技有限公司 | A kind of autonomous operation machinery remote runs node control method |
| CN108664024A (en) * | 2018-05-08 | 2018-10-16 | 清华大学 | The motion planning and Cooperative Localization Method and device that unmanned vehicle network is formed into columns |
| CN108664024B (en) * | 2018-05-08 | 2020-09-25 | 清华大学 | Motion planning and cooperative positioning method and device for unmanned vehicle network formation |
| CN109032128A (en) * | 2018-06-13 | 2018-12-18 | 江南大学 | The triangle formation control method of the discrete non-particle system of more AGV |
| CN109032128B (en) * | 2018-06-13 | 2020-04-10 | 江南大学 | Triangular formation control method of discrete multiple AGV non-particle system |
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Application publication date: 20141224 |