CN106493736A - A kind of One-male unit Internet of Things robot control method - Google Patents

Abstract

The invention discloses a kind of One-male unit Internet of Things robot control method, the core concept of this method is to include time term in the control function for make Internet of Things Web robot so as to become the function with regard to the time, control function also changes therewith when changing the time.In addition, it is contemplated that there is member's division of labor difference and communication delay in the robot group of reality, it is allowed to which each machine individual human is driven by different functions in same time point, further increases algorithm motility with this.The time is introduced the control function of Internet of Things Web robot as one of independent variable for it, so that the no longer single fixation of control function, but change can be constantly produced with the time, the action that more enriches is brought to select for Internet of Things robot group, to meet work requirements complicated and changeable, and which is made to possess higher adaptive capacity to environment.

Description

A kind of One-male unit Internet of Things robot control method

Technical field

A kind of the present invention relates to robot control field, more particularly to One-male unit Internet of Things robot control method.

Background technology

Increasingly mature with technology of Internet of things, large-scale Internet of Things Web robot collaborative work is possibly realized, and here Before, the problems such as task distribution of robot, orderly collective motion, is also badly in need of solving.With reference to nature biotechnology it is seen that, group Body behavior is a kind of Biology seed coating pattern of generally existing, and ant colony can be killed build by collective's cooperation and be exceeded well over the elder brother of itself Worm efficiently constructs nest, and migratory bird can make up some of the formation for being conducive to flying, ocean fish in migration course Class meeting cluster hides the threat of Predator, and these biological clusters seem that not so-called " cental system " is unified and send out a number finger Order, but ruly can realize jointly a certain target, make us really acclaiming as the acme of perfection.It is obvious that the system of this self-assembling formation Possess certain self-organization, system global failure will not be caused because of certain " core " failure, although the individuality in system may Single function, but also therefore there is replaceability, in sizable scope increasing and decreasing individual amount will not produce to systemic-function Affect, vigorousness is extremely strong.And required for the exactly extensive Internet of Things robot system of these features, anticipate with splendid reference Justice.The research and imitation of the split biological cluster behavioral pattern of researcher has been carried out many decades, and 1987, Reynolds was established Distributing behavior model is simultaneously emulated to flock of birds, it was demonstrated that can realize polymerization behavior by intensive interaction between simple individuality, This is research and simulation of the people earliest to natural aggregation.1993, Beni et al. proposed " cellular robot system " and possesses reality The ability of existing intelligent behavior, and formally introduce swarm intelligence concept.Hereafter a large amount of clustered control algorithms emerge in large numbers, and all kinds of algorithms are Through abundant group behavior control can be realized, however immutable in a practical situation, and single control algolithm often cannot Meet demand, by contrast, the work for describing population system under true environment can be more suitable for time dependent control algolithm Pattern, also possesses higher adaptive capacity to environment.The present invention proposes a kind of time-varying control algorithm for this present situation, it is intended to real Now enrich, time dependent Internet of Things robot group control function.

Content of the invention

The core concept of this method be in the control function for make Internet of Things Web robot include time term so as to become with regard to when Between function, when changing the time, control function also changes therewith.In addition, it is contemplated that there is member in the robot group of reality Division of labor difference and communication delay, it is allowed to which each machine individual human is driven by different functions in same time point, is further increased with this Algorithm motility.Algorithm given below realizes details：

If set S_V={ (V_x1+V_y1),(V_x2+V_y2),…,(V_xn+V_yn) represent position movement class control function sets, V_x1, V_x2,…,V_xnFor the different types of function with regard to position, for designated robot in two-dimensional space the position to x-axis direction Move, V_y1,V_y2…,V_ynIbid, for specifying the displacement in y-axis direction.If set S_O={ O₁,O₂,…,O_mRepresent other type controls Collection of functions processed, O₁,O₂,…,O_mIn order to control certain specific function of robot realization in addition to position is moved, (" function " includes herein But be not limited to pose adjustment, data acquisition, communication and all kinds of actions interacted with surrounding etc.) control function.Make S= {C_t1E₁,C_t2E₂,…,C_tNE_NRepresent the set of each seed control function, wherein 1≤N≤m+n, E₁,E₂,…,E_NRepresent different The sub- control function of type, each function all should take from S_VOr S_O, i.e. E_i∈S_V∪S_O, 1≤i≤N, parameter1≤i≤N is used for introducing time variable t.T, acts on certain at any time Control function f (t) on machine individual human is expressed as：

Above formula represents t at any time, and acting on the sub- control function on a controllable machine individual human has and only one Individual, t₀,t₁,…,t_NN sections are divided time into, when t is from t₀Arrive t_NDuring change, the sub- control function in set S will be in each time period Robot behavior is dominated in turn to machine individual human generation effect successively inside.The sub- control function that makes rational planning in set S is realized Abundant, time dependent control function.Any robot that can control realizes certain specific function (such as position movement, appearance State adjustment, data acquisition, communication and all kinds of actions interacted with surrounding etc.) control function can be as set S in Sub- control function.Additionally, in addition to planning in advance, the sub- control function in set S also in real time, dynamically can be increased and decreased, with full Foot real work demand complicated and changeable.

Description of the drawings

Fig. 1 is the control flow chart of this algorithm；

Fig. 2 is the robot group movement locus under this algorithm controls.

Specific embodiment

It is as follows that this method is applied to basic control flow journey when Internet of Things Web robot controls：

S1. Internet of Things Web robot receives external command, planning tasks and task time, that is, build or change control function sets Close S.

S2. a new task is prepared according to planning, that is, is arranged or Variation control function, any control function should be all taken from upper Choose in the control function set S for building in one step or changing.

S3. execute current task, i.e. robot to take action under the effect of current control function.

S4. the request of modification instruction is checked whether there is, i.e., whether needs to change or rebuild control function set S.If it is, Step S1 is gone to then, if it has not, then continuing next step.

S5. judge whether current task has exhausted the scheduled time, i.e., whether exceeded the time of current control function effect Scope.If it has, then carry out next step, if it has not, then going to step S3 continues executing with current task.

S6. judge whether current task is last predetermined task.If it has, then flow process terminates, if it has not, then turn Prepare the next item down task to S2.

Accompanying drawing 1 illustrates the control flow of this algorithm.

It is described in detail by taking Internet of Things robot cluster motor control as an example：Attract and repel when existing between individuality simultaneously Interaction when, each individuality can be issued to stress balance in specific range, and this can become the stable battle array of Canopy structure The guarantee of type, sets up following control function model：

V_xi,V_yiDisplacement of the designated robot along x-axis and y-axis direction is respectively used to,Respectively x-axis and y-axis direction Unit vector, x, y are the changing coordinates of the robot, x_j,y_jThe coordinate of other j-th robot near the robot is represented, such as Really there is M other robot near the robot, then j is 1 to the integer between M.K is proportionality coefficient, when the robot mutual When being located in the suction zone of other side, gravitation is occupied an leading position, and corresponding k should take a negative, when robot spacing is in equilibrium area When, without co-acting force, k is 0 in the two machine human world, and otherwise repulsion is occupied an leading position, and k takes a positive number.Different gravitation areas are set, Equilibrium area and rejection area scope can achieve different control effects.

Now consider following situation：Some Internet of Things Web robots are randomly placed in two-dimensional environment, and individuality is in t₀Moment is in Resting state, now control function be expressed as:

V_x1=0

V_y1=0

In time point t₁When each Internet of Things Web robot receive external command and carry out necessary Initialize installation, in t₂Complete to grasp Make, this stage control function is set to O₁.

Each robot gathers operation according to instruction execution afterwards, and this stage control function is taken as：

Value represent spacing d when controlled machine people and j-th robot of surrounding_j<Two individual mutually row when 10 Scold, d_jWhen >=30, two individualities attract each other, and repulsive interaction is better than sucking action with collision free.Each individuality is wished after the completion of gathering Disperse in order, reconstitute the formation of relative loose, if this behavior is in time point t₃Start, t₄Point terminates, then this stage control Function can be taken as：

Consider above each step function, make S_V={ (V_x1+V_y1),(Vx₂+V_y2),(V_x3+V_y3) class is moved for position Control function sets, S_O={ O₁Be other types control function sets, then S={ C_t1E₁,C_t2E₂,C_t3E₃,C_t4E₄, wherein E₁=(V_x1 +V_y1),E₂=O₁,E₃=(V_x2+V_y2),E₄=(V_x3+V_y3), T, acts at any time Control function on certain machine individual human is expressed as：

Above-mentioned control function acts on Internet of Things Web robot and realizes that cluster formation is controlled, and accompanying drawing 2 illustrates the algorithm controls Under robot motion track, rectangle denotes original position, and circular and triangle denotes machine under each control function respectively The relative settling position of people.The control function co-variationization three time of robot is acted in flow processs all, it is achieved that static → initial Change the dynamic changing process for arranging → building the loose formation of tight formation → structure, illustrate the time-varying characteristics of this algorithm.Above-mentioned The control of cluster formation is only one of application of this method, as long as actually building appropriate control function set S, control of making rational planning for The time domain of function effect processed simultaneously follows the control work(that the control flow shown in accompanying drawing 1 can achieve to need in various practical situations Energy.

Claims (6)

1. a kind of One-male unit Internet of Things robot control method, the core concept of this method is to make the control of Internet of Things Web robot Include time term in function so as to become the function with regard to the time, control function also changes therewith when changing the time；Additionally, Consider in actual robot group, there is member's division of labor difference and communication delay, it is allowed to which each machine individual human is in the same time Point is driven by different functions, further increases algorithm motility with this；It is characterized in that：

Algorithm given below realizes details：

If set S_V={ (V_x1+V_y1),(V_x2+V_y2),…,(V_xn+V_yn) represent position movement class control function sets, V_x1, V_x2,…,V_xnFor the different types of function with regard to position, for designated robot in two-dimensional space the position to x-axis direction Move, V_y1,V_y2…,V_ynIbid, for specifying the displacement in y-axis direction；If set S_O={ O₁,O₂,…,O_mRepresent other type controls Collection of functions processed, O₁,O₂,…,O_mThe control function of certain specific function in addition to position is moved is realized for controlling robot；Make S= {C_t1E₁,C_t2E₂,…,C_tNE_NRepresent the set of each seed control function, wherein 1≤N≤m+n, E₁,E₂,…,E_NRepresent different The sub- control function of type, each function all should take from S_VOr S_O, i.e. E_i∈S_V∪S_O, 1≤i≤N, parameterFor introducing time variable t；T, acts at any time Control function f (t) on certain machine individual human is expressed as：

$f\left(t\right)=\underset{i=1}{\overset{N}{\&Sigma;}}{C}_{ti}{E}_i$

Above formula represents t at any time, and the sub- control function acted on a controllable machine individual human has and only one of which, t₀, t₁,…,t_NN sections are divided time into, when t is from t₀Arrive t_NDuring change, sub- control function in set S will within each time period according to Secondary to machine individual human generation effect, dominate robot behavior in turn.

2. a kind of One-male unit Internet of Things robot control method according to claim 1, it is characterised in that：Make rational planning for Sub- control function in set S realizes abundant, time dependent control function；Any robot that can control realizes certain The control function of specific function can as set S in sub- control function.

3. a kind of One-male unit Internet of Things robot control method according to claim 1, it is characterised in that：Remove and advise in advance Outside drawing, the sub- control function in set S also in real time, dynamically can be increased and decreased, to meet real work demand complicated and changeable.

4. a kind of One-male unit Internet of Things robot control method according to claim 1, it is characterised in that：Any can Control robot realizes that certain specific function is included but pose adjustment, data acquisition, communication and all kinds of interacted with surrounding Action.

5. a kind of One-male unit Internet of Things robot control method according to claim 1, it is characterised in that：This method should When controlling for Internet of Things Web robot, basic control flow journey is as follows,

S1. Internet of Things Web robot receives external command, planning tasks and task time, that is, build or change control function set S；

S2. a new task is prepared according to planning, that is, is arranged or Variation control function, any control function all should be taken from previous step Choose in the control function set S of middle structure or modification；

S3. execute current task, i.e. robot to take action under the effect of current control function；

S4. the request of modification instruction is checked whether there is, i.e., whether needs to change or rebuild control function set S；If it has, then turning To step S1, if it has not, then continuing next step；

S5. judge whether current task has exhausted the scheduled time, i.e., whether exceeded the time range of current control function effect； If it has, then carry out next step, if it has not, then going to step S3 continues executing with current task；

S6. judge whether current task is last predetermined task；If it has, then flow process terminates, if it has not, then go to S2 Prepare the next item down task.

6. a kind of One-male unit Internet of Things robot control method according to claim 1, it is characterised in that：Internet of Things machine In the control of device people collective motion, when there is the interaction for attracting and repelling between individuality simultaneously, each individuality can be specific Distance is issued to stress balance, and this can become the guarantee of the stable formation of Canopy structure, set up following control function model：

$V_{\mathrm{xi}}=\underset{j=1}{\overset{M}{\mathrm{\&Sigma;}}}\frac{k_j^{\left(i\right)}(x_j-x)}{\sqrt{{(x_i-x)}^2+{(y_j-y)}^2}}\stackrel{\&RightArrow;}{\mathrm{\&iota;}}$

$V_{\mathrm{xi}}=\underset{j=1}{\overset{M}{\mathrm{\&Sigma;}}}\frac{k_j^{\left(i\right)}(y_j-y)}{\sqrt{{(x_{\text{j}}-x)}^2+{(y_j-y)}^2}}\stackrel{\&RightArrow;}{j}$

V_xi,V_yiDisplacement of the designated robot along x-axis and y-axis direction is respectively used to,Respectively x-axis and y-axis direction unit to Amount, x, y are the changing coordinates of the robot, x_j,y_jThe coordinate of other j-th robot near the robot is represented, if the machine There is M other robot near device people, then j is 1 to the integer between M；K is proportionality coefficient, when the robot is mutually positioned at right When in the suction zone of side, gravitation is occupied an leading position, and corresponding k should take a negative, when robot spacing is in equilibrium area, two machines Without co-acting force, k is 0 in the device human world, and otherwise repulsion is occupied an leading position, and k takes a positive number；Set different gravitation areas, equilibrium area And rejection area scope can achieve different control effects；

Now consider following situation：Some Internet of Things Web robots are randomly placed in two-dimensional environment, and individuality is in t₀Moment is in static shape State, now control function be expressed as:

V_x1=0

V_y1=0

In time point t₁When each Internet of Things Web robot receive external command and carry out necessary Initialize installation, in t₂Complete to operate, this Stage control function is set to O₁；

Each robot gathers operation according to instruction execution afterwards, and this stage control function is taken as：

$V_{\mathrm{xi}}=\underset{j=1}{\overset{M}{\mathrm{\&Sigma;}}}\frac{k_j^{\left(i\right)}(x_j-x)}{\sqrt{{(x_i-x)}^2+{(y_j-y)}^2}}\stackrel{\&RightArrow;}{\mathrm{\&iota;}}$

$V_{y2}=\underset{j=1}{\overset{M}{\mathrm{\&Sigma;}}}\frac{k_j^{\left(2\right)}(y_j-y)}{\sqrt{{(x_j-x)}^2+{(y_j-y)}^2}}\stackrel{\&RightArrow;}{j}$

$k_j^{\left(2\right)}=\left\{\begin{array}{cc}-6,& d_j<10\\ 0,& 10\&le;d_j\&le;30\\ 2,& d_j\&GreaterEqual;30\end{array}\right.$

Value represent spacing d when controlled machine people and j-th robot of surrounding_j<Two individuality mutually exclusive, d when 10_j≥ When 30, two individualities attract each other, and repulsive interaction is better than sucking action with collision free；Each individual orderly point is wished after the completion of gathering Dissipate, reconstitute the formation of relative loose, if this behavior is in time point t₃Start, t₄Point terminates, then this stage control function can It is taken as：

$V_{x3}=\underset{j=1}{\overset{M}{\mathrm{\&Sigma;}}}\frac{k_j^{\left(3\right)}(x_j-x)}{\sqrt{{(x_i-x)}^2+{(y_j-y)}^2}}\stackrel{\&RightArrow;}{\mathrm{\&iota;}}$

$V_{y3}=\underset{j=1}{\overset{M}{\mathrm{\&Sigma;}}}\frac{k_j^{\left(3\right)}(y_j-y)}{\sqrt{{(x_j-x)}^2+{(y_j-y)}^2}}\stackrel{\&RightArrow;}{j}$

$k_3=\left\{\begin{array}{cc}-6,& d_j<60\\ 0,& 60\&le;d_j\&le;90\\ 2,& d_j\&GreaterEqual;60\end{array}\right.$

Consider above each step function, make S_V={ (V_x1+V_y1),(V_x2+V_y2),(V_x3+V_y3) letter is controlled for position movement class Manifold, S_O={ O₁Be other types control function sets, then S={ C_t1E₁,C_t2E₂,C_t3E₃,C_t4E₄, wherein

E₃=(V_x2+V_y2), T at any time, the control function acted on certain machine individual human are expressed as：

$f\left(t\right)=\underset{i=1}{\overset{4}{\&Sigma;}}{C}_{ti}{E}_i$

Above-mentioned control function acts on Internet of Things Web robot and realizes that cluster formation is controlled.