CN106950970B - A kind of multirobot collaboration formation method based on client-server architecture - Google Patents
A kind of multirobot collaboration formation method based on client-server architecture Download PDFInfo
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- CN106950970B CN106950970B CN201710312184.9A CN201710312184A CN106950970B CN 106950970 B CN106950970 B CN 106950970B CN 201710312184 A CN201710312184 A CN 201710312184A CN 106950970 B CN106950970 B CN 106950970B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0295—Fleet control by at least one leading vehicle of the fleet
Abstract
The present invention relates to a kind of, and the multirobot based on client-server architecture cooperates with formation method, client-server architecture is by environment, server, pilotage people robot and client are constituted, wherein, environment includes barrier and plane, the robot that the artificial leader formation of pilotage people's machine is advanced, client is made of remaining robot, the artificial follower robot of the machine of client, the effect of server is to obtain simultaneously processing environment information, the information of pilotage people robot and client, determine pilotage people robot, control information is sent to pilotage people robot and client, pilotage people robot and client pass through server realization information and data sharing, formation task is synergistically completed under the commander of server.Collaboration fleet system scalability of the invention is strong, and does not need a large amount of operand and real-time control can be realized, and suitable for the related fields of multirobot research, has good development potentiality.
Description
Technical field
The invention belongs to multirobot control field, be related to a kind of collaboration formation method of multirobot, in particular to one
Multirobot of the kind based on client-server architecture cooperates with formation method.
Background technique
With the development of science and technology with the development of robot technology, the ability of robot is continuously improved.Robot is as people
The novel tool of production of class, is reducing labor intensity, and improves productivity, changes production model, people from dangerous, severe, heavy
Working environment under free etc., show great superiority.The field of robot application and range just constantly expand
Exhibition, in the industry, mobile robot substantially increases the production efficiency of enterprise；In agricultural production, the investment of robot, liberation
Cumbersome heavy manual labor；In national defence, robot can replace people's operation, greatly reduce the injures and deaths of soldier.It can be with
, it is envisioned that the application of robot system can bring dramatic change for human society, people's lives quality can be greatly improved, it will
Work, agriculture, military level are increased to a new height.Therefore, the research of robot is just particularly important.
Mobile robot research is an important branch in robotics.Multi-robot coordination technology is mobile machine again
One important directions of people's research.Although the ability of robot is continuously improved, for one with the development of robot technology
A little complicated tasks, individual machine people is no longer best solution.Individual machine people is obtaining information, processing and control etc.
The ability of aspect is all limited, and under changeable environment, this defect is especially highlighted, the coordinated control side of multiple mobile robot
Method is more and more widely used in practical problem.
Multi-robot system is not the simple algebraic addition of the individual machine people in physical significance, and function and effect are also not
The linear summation of individual machine people effect, it should further include one except " linear and " based on interacting between individual
Increment.Interaction between this individual includes two factors: " coordination " and " cooperation ".Pass through the coordination between multirobot
Cooperation, multirobot can bring the effect much larger than individual machine people into play.By the cooperation between multiple mobile robot, can be improved
Efficiency of the robot system in operation process, and then when working environment changes or robot system locally breaks down
When, multiple-mobile-robot system still can complete scheduled task by the cooperative relationship that has itself.
Patent CN 103809534A discloses a kind of robot group coordinated control system, includes robot monomer, control
Device, signal transmission device, supercomputer terminal signaling transmitter and supercomputer terminal, the transmission of supercomputer terminal signaling
Device and supercomputer terminal wirelessly transmit data-signal, and robot monomer, controller and signal transmission device
There is at least one, by this cooperation, a group picking robot is made to work in coordination, completes picking work.
Patent CN 105573316A provides a kind of mobile Group Robots of autonomous formation, and the movement Group Robots are extremely
It is few to be made of 2 robots, it gathers around there are two types of formation mode, i.e. vision is formed into columns and communicated and forms into columns, and uses different volumes as needed
Team's mode can achieve different purposes；Each robot monomer is a complete independent individual, and flexibility is good and intelligent
Change degree is high, while robot is at low cost, small in size, stability is good and cost performance is high.
However, it is of the existing technology the disadvantage is that, cooperative control system mode is relatively fixed, depend on powerful calculating ability
Computing system, can not achieve real-time control.Therefore, it studies a kind of versatility and the higher multirobot collaboration of flexibility is formed into columns
Method is just particularly important.
Summary of the invention
The purpose of the present invention is overcoming prior art cooperative control system mode relatively fixed, powerful calculating ability is depended on
Computing system, the shortcomings that can not achieve real-time control provides a kind of multirobot collaboration based on client-server architecture
Formation method.
In order to achieve the above objectives, the technical solution adopted by the present invention are as follows:
A kind of multirobot collaboration formation method based on client-server architecture, client-server architecture is by ring
Border, server, pilotage people robot and client are constituted, wherein environment includes the barrier and machine for stopping robot to be advanced
The plane that people moves above it, the robot that the artificial leader formation of pilotage people's machine is advanced, client is by remaining machine
Device people composition, the artificial follower robot of the machine of the client；
The nearest robot of distance needed for target point being reached regards as pilotage people robot, and is denoted as first number,
Serial number is carried out to client according still further to formation R-matrix, the condition of number satisfaction is that all robots complete to walk when forming into columns
The sum of path distance crossed minimum；
The effect of server is to obtain simultaneously processing environment information, the information of pilotage people robot and client, determines and navigates
Person robot sends control information to pilotage people robot and client；Pilotage people robot and client are according to the control information
It is moved；The information change trigger the server of environmental information, pilotage people robot and client is updated control information；
Pilotage people robot and client are synergistically completed under the commander of server by server realization information and data sharing
Formation task.
As a preferred technical scheme:
A kind of multirobot based on client-server architecture as described above cooperates with formation method, the pilotage people
The information of robot and client includes position and direction information；The control information is divided into control Stop message and control is advanced
Information, control Stop message are EP (end of program) order, are respectively sent to pilotage people robot and client, server by server
The control travel information for being sent to pilotage people robot includes the position for operating normally order, optimal path, pilotage people robot
And directional information, the nearest path of distance needed for the optimal path refers to pilotage people robot arrival target point；Server
The control travel information for being sent to follower robot includes operating normally order, formation R-matrix and all robots
Number, position and direction information, the formation R-matrix are 3 column matrix of N row, are inputted by server, indicate each machine in formation
Referring-to relation between device people, wherein N is the number of robot.
A kind of multirobot based on client-server architecture as described above cooperates with formation method, the formation ginseng
The expression formula for examining matrix F is as follows:
Wherein, RiRepresent the number of the robot followed required for numbering robot as i, i=1,2 ..., N, Ri≠
I, YiIt represents with the required angle rotated counterclockwise with the robot direction of advance of reference kept at any time, LiRepresentative follows institute
The distance for needing to keep, the parameter of matrix F the first row are [0 0 0]；
Pilotage people robot number is 1, follower robot serial number since 2.
A kind of multirobot based on client-server architecture as described above cooperates with formation method, overall operation stream
Journey is as follows:
(1) camera captures the scene comprising all machine human and environments, is sent to server；
(2) the position and direction information of server extraction machine people, and two dimension is established according to environment (barrier and plane)
Grating map, two-dimensional grid map are only just updated when environment changes, i.e. the only position of barrier and plane
Two-dimensional grid map is just updated when mobile, quantity increases or quantity reduces；
(3) server demarcates a target point in two-dimensional grid map and inputs formation R-matrix, then according to mesh
The position and direction information of punctuate, formation R-matrix and robot first calculates nearest up to distance needed for target point
Robot, regarded as pilotage people robot, number 1, then serial number, number are full since 2 to other robot
The condition of foot is the sum of path distance for passing by minimum when all robots complete to form into columns, robot number once determine until
EP (end of program) does not change, and the target point in the present invention is a fixed location point, not more with two-dimensional grid map
The case where newly changing, it may also be possible to apply the invention for multiple target point determines a target when there are multiple target points first
Point carries out collaboration formation, redefines the collaboration formation that new target point starts a new round again after reaching the target point, so follows
Ring reaches the last one target point until pilotage people robot；
(4) server judges whether pilotage people robot reaches target point, if it is sends EP (end of program) order to neck
Hang Zhe robot and follower robot, if not then continuing；
(5) server is asked according to the position of two-dimensional grid map, target point and pilotage people robot with particle swarm algorithm
Obtain the optimal path of pilotage people robot；
(6) server sends the position and direction information extremely navigator for operating normally order, optimal path, pilotage people robot
Person robot；
(7) traveling of pilotage people robot and trigger the server, which are sent, operates normally order, formation R-matrix and owns
Number, the position and direction information to follower robot of robot；
(8) follower robot advances；
(9) pilotage people robot reaches target point, and server sends EP (end of program) order to pilotage people robot and follows
Person robot.
A kind of multirobot based on client-server architecture as described above cooperates with formation method, the pilotage people
The operational process of robot is as follows:
(1) pilotage people robot receives the position for operating normally order, optimal path, pilotage people robot that server is sent
It sets and directional information；
(2) optimal path discretization is obtained into a series of location points, these location points according to pilotage people robot away from
From from closely to the short-term goal point far successively advanced as pilotage people robot；
(3) pilotage people robot is joined according to the control that short-term goal point and the position and direction information of itself calculate itself
Number；
(4) pilotage people robot advances；
(5) when receiving EP (end of program) order then EP (end of program) from server, step (1) is otherwise gone to.
A kind of multirobot based on client-server architecture as described above cooperates with formation method, pilotage people's machine
Motion model of the design of the Controlling model of people based on two-wheeled disk machines people, the control parameter include revolver speed vllThe right side and
Wheel speed vlr, steps are as follows for calculating:
(1) pilotage people robot establishes rectangular co-ordinate using region locating for target point and all robots as first quartile
System；
(2) coordinate (x of pilotage people robot is determined according to rectangular coordinate systemr,yr), pilotage people robot direction of advance and X
The angle theta of axis positive directionrWith the coordinate (x of short-term goal pointd,yd), turning radius R is calculated, formula is as follows:
(3) the revolver speed v of pilotage people robot is calculated according to turning radius R and preset value KllWith right wheel speed vlr, public
Formula is as follows:
max{vll,vlr}=K；
In formula, w is the distance between two-wheeled disk machines people's two-wheeled, and m is the width of two-wheeled disk machines people's wheel.
A kind of multirobot based on client-server architecture as described above cooperates with formation method, the preset value K
Indicate that the two-wheeled maximum speed of pilotage people robot, preset value K value are 8, unit cm/s.
A kind of multirobot based on client-server architecture as described above cooperates with formation method, the follower
The operational process of robot is as follows:
(1) follower robot receives normal operation order, formation R-matrix and all machines that server is sent
Number, the position and direction information of people；
(2) follower robot calculates control parameter；
(3) follower robot advances；
(4) when receiving EP (end of program) order then EP (end of program) from server, step (1) is otherwise gone to.
A kind of multirobot based on client-server architecture as described above cooperates with formation method, follower's machine
Motion model of the design of the Controlling model of people based on two-wheeled disk machines people, the control parameter include revolver speed VflThe right side and
Wheel speed Vfr, steps are as follows for calculating:
(1) follower robot is according to the volume of the number d of itself robot for obtaining being followed by formation R-matrix
Number Rd, with the required angle Y rotated counterclockwise with the robot direction of advance of reference kept at any timedAnd required for following
The distance L keptd；
(2) rectangular coordinate system established according to pilotage people robot determines the coordinate for the follower robot that number is d
(xf,yf), number be d follower robot direction of advance and X-axis positive direction angle thetaf, number be RdRobot seat
Mark (xl,yl), number be RdRobot direction of advance and X-axis positive direction angle thetal；
(3) parameter following formula is substituted into calculate:
In formula, vlIt is the speed of pilotage people robot, vfIt is the speed of follower robot, kpAnd kαIt is controller parameter,
kp> 0, kα>0。
The utility model has the advantages that
1) system of subject framework of the invention is based on follow-on client-server architecture, which utilizes significantly
The computing resource of various pieces embodies centralized control and distributed computing independent of the processing capacity of single part
Thought.The program has very strong anti-interference ability, has good effect in practical applications.
2) flight pattern of robot is described present invention employs formation R-matrix, follower robot passes through formation
R-matrix can determine the robot of the reference of oneself, to calculate the control parameter of follower robot, change formation
R-matrix also just changes the formation of robot, and the design of formation R-matrix is added, and the program can also cope with pilotage people
The emergency cases such as robot failure or follower robot loss, have very strong adaptability.
3) present invention designs pilotage people's machine human operator model based on turning radius and chasing after based on distance and angle
It is simple and quick with person's machine human operator model, big calculation amount is not needed, real-time is good, is suitable for processing multirobot collaboration
The application scenarios of formation.
Detailed description of the invention
Fig. 1 is overall operation flow chart；
Fig. 2 is the operational flow diagram of pilotage people robot；
Fig. 3 is the operational flow diagram of follower robot；
Fig. 4 be target point in front of robot when the formation of multirobot form effect picture；
Fig. 5 is that the formation of multirobot when target point is square on the left of robot forms effect picture
Fig. 6 is that the formation of multirobot when target point is square on the right side of robot forms effect picture
Fig. 7 is the control effect figure of four variation targets points of pilotage people robot；
Fig. 8 is that follower robot follows effect picture when the robot of reference turn-takes；
Fig. 9 is pilotage people robot and follower robot joint debugging effect picture；
Figure 10 is switching pilotage people's robot simulation figure；
Figure 11 is that analogous diagram is lost by follower robot；
Figure 12 is multirobot formation switching analogous diagram.
Specific embodiment
The invention will be further elucidated with reference to specific embodiments.It should be understood that these embodiments are merely to illustrate this hair
It is bright rather than limit the scope of the invention.In addition, it should also be understood that, after reading the content taught by the present invention, art technology
Personnel can make various changes or modifications the present invention, and such equivalent forms equally fall within the application the appended claims and limited
Fixed range.
A kind of multirobot collaboration formation method based on client-server architecture, client-server architecture is by ring
Border, server, pilotage people robot and client are constituted, wherein environment includes the barrier and machine for stopping robot to be advanced
The plane that people moves above it, the robot that the artificial leader formation of pilotage people's machine is advanced, client is by remaining machine
Device people composition, the artificial follower robot of the machine of client；
The nearest robot of distance needed for target point being reached regards as pilotage people robot, and is denoted as first number,
Serial number is carried out to client according still further to formation R-matrix, the condition of number satisfaction is that all robots complete to walk when forming into columns
The sum of path distance crossed minimum；
The effect of server is to obtain simultaneously processing environment information, the information of pilotage people robot and client, determines and navigates
Person robot sends control information to pilotage people robot and client；Pilotage people robot and client are according to the control information
It is moved；The information change trigger the server of environmental information, pilotage people robot and client is updated control information；
Pilotage people robot and client are synergistically completed under the commander of server by server realization information and data sharing
Formation task；Wherein, the information of pilotage people robot and client includes position and direction information；Control information is divided into control and stops
Only information and control travel information, control Stop message are EP (end of program) order, are respectively sent to pilotage people's machine by server
People and client, the control travel information that server is sent to pilotage people robot includes operating normally order, optimal path, neck
The position and direction information of Hang Zhe robot, optimal path refer to that distance needed for pilotage people robot reaches target point is nearest
Path；Server be sent to follower robot control travel information include operate normally order, formation R-matrix and
Number, the position and direction information of all robots, formation R-matrix are 3 column matrix of N row, are inputted by server, indicate team
Referring-to relation between Xing Zhongge robot, wherein N is the number of robot, and the expression formula of formation R-matrix F is as follows:
Wherein, RiRepresent the number of the robot followed required for numbering robot as i, i=1,2 ..., N, Ri≠
I, YiIt represents with the required angle rotated counterclockwise with the robot direction of advance of reference kept at any time, LiRepresentative follows institute
The distance for needing to keep, the parameter of matrix F the first row are [0 0 0]；
Pilotage people robot number is 1, follower robot serial number since 2.
As shown in Figure 1, the overall operation process of multirobot collaboration formation method is as follows:
(1) camera captures the scene comprising all machine human and environments, is sent to server；
(2) the position and direction information of server extraction machine people, and two dimension is established according to environment (barrier and plane)
Grating map, two-dimensional grid map are only just updated when environment changes, i.e. the only position of barrier and plane
Two-dimensional grid map is just updated when mobile, quantity increases or quantity reduces；
(3) server demarcates a target point in two-dimensional grid map and inputs formation R-matrix, then according to mesh
The position and direction information of punctuate, formation R-matrix and robot first calculates nearest up to distance needed for target point
Robot, regarded as pilotage people robot, number 1, then serial number, number are full since 2 to other robot
The condition of foot is the sum of path distance for passing by minimum when all robots complete to form into columns, robot number once determine until
EP (end of program) does not change, and the target point in the present invention is a fixed location point, not more with two-dimensional grid map
The case where newly changing, it may also be possible to apply the invention for multiple target point determines a target when there are multiple target points first
Point carries out collaboration formation, redefines the collaboration formation that new target point starts a new round again after reaching the target point, so follows
Ring reaches the last one target point until pilotage people robot；
(4) server judges whether pilotage people robot reaches target point, if it is sends EP (end of program) order to neck
Hang Zhe robot and follower robot, if not then continuing；
(5) server is asked according to the position of two-dimensional grid map, target point and pilotage people robot with particle swarm algorithm
Obtain the optimal path of pilotage people robot；
(6) server sends the position and direction information extremely navigator for operating normally order, optimal path, pilotage people robot
Person robot；
(7) traveling of pilotage people robot and trigger the server, which are sent, operates normally order, formation R-matrix and owns
Number, the position and direction information to follower robot of robot；
(8) follower robot advances；
(9) pilotage people robot reaches target point, and server sends EP (end of program) order to pilotage people robot and follows
Person robot.
As shown in Fig. 2, the operational process of pilotage people robot is as follows:
(1) pilotage people robot receives the position for operating normally order, optimal path, pilotage people robot that server is sent
It sets and directional information；
(2) optimal path discretization is obtained into a series of location points, these location points according to pilotage people robot away from
From from closely to the short-term goal point far successively advanced as pilotage people robot；
(3) pilotage people robot is joined according to the control that short-term goal point and the position and direction information of itself calculate itself
Number；
(4) pilotage people robot advances；
(5) when receiving EP (end of program) order then EP (end of program) from server, step (1) is otherwise gone to；
Wherein, motion model of the design of the Controlling model of pilotage people robot based on two-wheeled disk machines people, control ginseng
Number includes revolver speed vllWith right wheel speed vlr, steps are as follows for calculating:
(1) pilotage people robot establishes rectangular co-ordinate using region locating for target point and all robots as first quartile
System；
(2) coordinate (x of pilotage people robot is determined according to rectangular coordinate systemr,yr), pilotage people robot direction of advance and X
The angle theta of axis positive directionrWith the coordinate (x of short-term goal pointd,yd), turning radius R is calculated, formula is as follows:
(3) the revolver speed v of pilotage people robot is calculated according to turning radius R and preset value KllWith right wheel speed vlr, public
Formula is as follows:
max{vll,vlr}=K；
In formula, w is the distance between two-wheeled disk machines people's two-wheeled, and m is the width of two-wheeled disk machines people's wheel, is preset
Value K indicates that the two-wheeled maximum speed of pilotage people robot, preset value K value are 8, unit cm/s.
As shown in figure 3, the operational process of follower robot is as follows:
(1) follower robot receives normal operation order, formation R-matrix and all machines that server is sent
Number, the position and direction information of people；
(2) follower robot calculates control parameter；
(3) follower robot advances；
(4) when receiving EP (end of program) order then EP (end of program) from server, step (1) is otherwise gone to；
Wherein motion model of the design of the Controlling model of follower robot based on two-wheeled disk machines people, control parameter
Including revolver speed VflWith right wheel speed Vfr, steps are as follows for calculating:
(1) follower robot is according to the volume of the number d of itself robot for obtaining being followed by formation R-matrix
Number Rd, with the required angle Y rotated counterclockwise with the robot direction of advance of reference kept at any timedAnd required for following
The distance L keptd；
(2) rectangular coordinate system established according to pilotage people robot determines the coordinate for the follower robot that number is d
(xf,yf), number be d follower robot direction of advance and X-axis positive direction angle thetaf, number be RdRobot seat
Mark (xl,yl), number be RdRobot direction of advance and X-axis positive direction angle thetal；
(3) parameter following formula is substituted into calculate:
In formula, vlIt is the speed of pilotage people robot, vfIt is the speed of follower robot, kpAnd kαIt is controller parameter,
kp> 0, kα>0。
The present invention realizes the control to robot formation by formation R-matrix, as shown in Fig. 4,5 and 6, by target
Point, which is respectively provided at different orientation multi-robot systems, can be rapidly formed flight pattern, this is absolutely proved, the present invention
Model can realize at different conditions formation construct task, meet design requirement.
Whether pilotage people robot can controllably be detected by allowing it to detour one week in the present invention, and in this way it can mould
Intend the control in any angle, the present invention is made by the position of four change target points in pilotage people robot operational process
Pilotage people robot turns around to detect control effect, and control effect is as shown in Figure 7, the results showed that pilotage people robot controls mould
Type is complete in this experiment, can control pilotage people robot.
Embodiment 1
A kind of multirobot collaboration formation method based on improved client-server architecture, allows three robots to do
Circular motion, input instruction allow pilotage people robot to do circular motion, and that investigates follower robot follows effect, final each machine
Device people's track route is as shown in Figure 8.Follower's machine may be implemented in control method proposed in this paper it can be seen from analogous diagram
People follows the controllability of route, and follower robot, which follows, to work well.
Embodiment 2
A kind of multirobot based on improved client-server architecture cooperates with formation method, allows pilotage people robot
Cubic transformation target point detours one week, while it is tracked with reference to person according to its Controlling model by follower robot, inputs after instructing,
Final each robot ambulation route is as shown in Figure 9.Control method proposed in this paper may be implemented to lead it can be seen from analogous diagram
Hang Zhe robot and follower robot jointly control, and joint debugging works well.
Embodiment 3
A kind of multirobot collaboration formation method based on improved client-server architecture, multirobot are being advanced
In the process, pilotage people robot, which is likely encountered, falls into the case where being trapped into or falling into Local Extremum, this is in multirobot research
The case where being unavoidable problem, just needing the institutional framework of multirobot that can support switching pilotage people at this time.When more
When robot collaboration proceeds in formation in the process there is a situation where needing to switch pilotage people, program can control multi-robot system and cut
Pilotage people is changed, and continues to advance according to the multirobot collaboration formation method of this paper.One kind being based on improved client-server
The multirobot collaboration formation method of structure controls the formation of multirobot using formation R-matrix, when needing to switch machine
When the formation of people, change formation R-matrix.It as shown in Figure 10, is neck in robot of the emulation initial stage between two parties marked as c
Hang Zhe robot, remaining robot are follower robots；Then because of cause specific, follower robot a is switched to
Pilotage people robot, initial stage, pilotage people robot c became follower robot.It is from analogous diagram as can be seen that proposed in this paper
The switching of pilotage people robot may be implemented in control method.
Embodiment 4
A kind of multirobot collaboration formation method based on improved client-server architecture, advances in multirobot
In the process, follower robot is possible to the case where lost contact occur, just needs the control method of multirobot that can have one at this time
Fixed robustness even follower robot lost contact, but will not influence the traveling of remaining robot.When in multirobot
When during proceeding in formation follower robot lost contact occurs for collaboration, program, which can control multi-robot system and abandon this, is followed
Person, and continue to advance according to the multirobot collaboration formation method of this paper.As shown in figure 11, emulation initial stage exists there are five robot
It advances together, unexpected a certain follower robot is out of touch, remaining four robot can continue to advance at this time, not by shadow
It rings.
Embodiment 5
A kind of multirobot collaboration formation method based on improved client-server architecture, advances in multirobot
In the process, multirobot is likely to be encountered the case where narrow space, needs multi-robot formation model that can switch at any time at this time
Formation, to adapt to actual traveling environment.When needing to switch formation during multirobot collaboration is proceeded in formation,
Program can control multi-robot system switching formation, and continue to advance according to the multirobot collaboration formation method of this paper.Such as
Shown in Figure 12, is advanced in traveling initial stage robot with farther away interval, in operation the phase, encounter narrow space, change formation
R-matrix, the formation of multirobot can also change in real time at this time.Formation is controllable, can cope with emergency case in real time.
Embodiment 6
A kind of multirobot collaboration formation method based on improved client-server architecture, advances in multirobot
In the process, multirobot is likely to be encountered the case where object variations, multiple targets or scene switching, needs multirobot to compile at this time
Team's model can have the strategy for coping with this demand, and can complete task.When during multirobot collaboration is proceeded in formation
When there is a situation where needing to switch target point, program can directly modify the target position parameter of program, this corresponding update
Aiming spot, server can calculate the robot path after updating target point, and then new routing information also can be via
Wireless network is sent to each robot, and robot can be continued on according to new target point.And when robot possess it is multiple
When target point, that the smallest combination of the sum of all target point distances is successively reached with algorithm calculating, is exactly that robot is wanted
The target dot sequency of arrival.Where robot when scene changes, two-dimensional grid map need to be only reinitialized, and calculate newly
Robot path under map.
Claims (6)
1. a kind of multirobot based on client-server architecture cooperates with formation method, it is characterized in that: client-server
Structure is made of environment, server, pilotage people robot and client, wherein environment includes barrier and plane, pilotage people's machine
The robot that the artificial leader formation of device is advanced, client are made of remaining robot, and the machine of the client is artificial
Follower robot；
The nearest robot of distance needed for target point being reached regards as pilotage people robot, and is denoted as first number, then press
Serial number is carried out to client according to formation R-matrix, all robots of the condition of number satisfaction complete to pass by when forming into columns
The sum of path distance minimum；
The effect of server is to obtain simultaneously processing environment information, the information of pilotage people robot and client, determines pilotage people's machine
Device people sends control information to pilotage people robot and client；Pilotage people robot and client carry out according to the control information
Movement；The information change trigger the server of environmental information, pilotage people robot and client is updated control information；It navigates
Person robot and client are synergistically completed to form into columns under the commander of server by server realization information and data sharing
Task；
The information of the pilotage people robot and client includes position and direction information；The control information is divided into control and stops
Information and control travel information, control Stop message are EP (end of program) order, are respectively sent to pilotage people robot by server
And client, the control travel information that server is sent to pilotage people robot includes operating normally order, optimal path, navigator
The position and direction information of person robot, distance needed for the optimal path refers to pilotage people robot arrival target point are nearest
Path；Server be sent to follower robot control travel information include operate normally order, formation R-matrix with
And number, the position and direction information of all robots, the formation R-matrix are 3 column matrix of N row, are inputted by server,
Indicate the referring-to relation between formation Zhong Ge robot, wherein N is the number of robot；
The expression formula of the formation R-matrix F is as follows:
Wherein, RiRepresent the number of the robot followed required for numbering robot as i, i=1,2 ..., N, Ri≠ i, Yi
It represents with the required angle kept at any time, LiThe distance kept required for following is represented, the parameter of matrix F the first row is [0 0
0]；
Pilotage people robot number is 1, follower robot serial number since 2；
Overall operation process is as follows:
(1) camera captures the scene comprising all machine human and environments, is sent to server；
(2) the position and direction information of server extraction machine people, and two-dimensional grid map is established according to environment；
(3) server demarcates a target point in two-dimensional grid map and inputs formation R-matrix, then according to target point,
The position and direction information of formation R-matrix and robot first calculates the machine nearest up to distance needed for target point
People, is regarded as pilotage people robot, number 1, then to other robot since 2 serial number, the item of number satisfaction
Part is that all robots complete the sum of the path distance passed by when forming into columns minimum；
(4) server judges whether pilotage people robot reaches target point, if it is sends EP (end of program) order to pilotage people
Robot and follower robot, if not then continuing；
(5) server acquires neck with particle swarm algorithm according to the position of two-dimensional grid map, target point and pilotage people robot
The optimal path of Hang Zhe robot；
(6) server send operate normally order, optimal path, pilotage people robot position and direction information to pilotage people's machine
Device people；
(7) pilotage people robot advances and trigger the server sends and operates normally order, formation R-matrix and all machines
Number, the position and direction information to follower robot of people；
(8) follower robot advances；
Pilotage people robot reaches target point, and server sends EP (end of program) order to pilotage people robot and follower's machine
People.
2. a kind of multirobot based on client-server architecture according to claim 1 cooperates with formation method, special
Sign is that the operational process of the pilotage people robot is as follows:
(1) pilotage people robot receive server send operate normally order, optimal path, pilotage people robot position and
Directional information；
(2) optimal path discretization is obtained into a series of location points, these location points according at a distance from pilotage people robot from
It is close to arrive the remote short-term goal point successively advanced as pilotage people robot；
(3) pilotage people robot calculates the control parameter of itself according to short-term goal point and the position and direction information of itself；
(4) pilotage people robot advances；
(5) when receiving EP (end of program) order then EP (end of program) from server, step (1) is otherwise gone to.
3. a kind of multirobot based on client-server architecture according to claim 2 cooperates with formation method, special
Sign is that the design of the Controlling model of pilotage people robot is based on the motion model of two-wheeled disk machines people, the control parameter
Including revolver speed vllWith right wheel speed vlr, steps are as follows for calculating:
(1) pilotage people robot establishes rectangular coordinate system using region locating for target point and all robots as first quartile；
(2) coordinate (x of pilotage people robot is determined according to rectangular coordinate systemr,yr), pilotage people robot direction of advance and X-axis just
The angle theta in directionrWith the coordinate (x of short-term goal pointd,yd), turning radius R is calculated, formula is as follows:
(3) the revolver speed v of pilotage people robot is calculated according to turning radius R and preset value KllWith right wheel speed vlr, formula is such as
Under:
max{vll,vlr}=K；
In formula, w is the distance between two-wheeled disk machines people's two-wheeled, and m is the width of two-wheeled disk machines people's wheel.
4. a kind of multirobot based on client-server architecture according to claim 3 cooperates with formation method, special
Sign is that the preset value K indicates that the two-wheeled maximum speed of pilotage people robot, preset value K value are 8, unit cm/s.
5. a kind of multirobot based on client-server architecture according to claim 4 cooperates with formation method, special
Sign is that the operational process of the follower robot is as follows:
(1) follower robot receives normal operation order, formation R-matrix and all robots that server is sent
Number, position and direction information；
(2) follower robot calculates control parameter；
(3) follower robot advances；
(4) when receiving EP (end of program) order then EP (end of program) from server, step (1) is otherwise gone to.
6. a kind of multirobot based on client-server architecture according to claim 5 cooperates with formation method, special
Sign is that the design of the Controlling model of follower robot is based on the motion model of two-wheeled disk machines people, the control parameter
Including revolver speed VflWith right wheel speed Vfr, steps are as follows for calculating:
(1) follower robot is according to the number R of the number d of itself robot for obtaining being followed by formation R-matrixd,
With the required angle Y kept at any timedAnd the distance L kept required for followingd；
(2) rectangular coordinate system established according to pilotage people robot determines the coordinate (x for the follower robot that number is df,yf)、
The angle theta of follower robot direction of advance and X-axis positive direction that number is df, number be RdRobot coordinate (xl,
yl), number be RdRobot direction of advance and X-axis positive direction angle thetal；
(3) parameter following formula is substituted into calculate:
In formula, vlIt is the speed of pilotage people robot, vfIt is the speed of follower robot, kpAnd kαIt is controller parameter, kp>
0, kα> 0.
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| CN108897321B (en) * | 2018-07-16 | 2021-06-15 | 重庆理工大学 | Robot formation variable formation control method and controller based on piloting following method |
| CN110333723B (en) * | 2019-07-17 | 2022-03-22 | 广东华中科技大学工业技术研究院 | Unmanned ship collaborative formation method based on dual communication equipment |
| CN110456787A (en) * | 2019-07-22 | 2019-11-15 | 中国人民解放军总参谋部第六十研究所 | Formation control method based on real time virtual path |
| CN112775957B (en) * | 2019-11-08 | 2022-06-14 | 珠海一微半导体股份有限公司 | Control method of working robot, working robot system and chip |
| CN111176281A (en) * | 2019-12-31 | 2020-05-19 | 大连民族大学 | Multi-surface unmanned ship coverage type collaborative search method and system based on quadrant method |
| CN111866141A (en) * | 2020-07-21 | 2020-10-30 | 珠海格力电器股份有限公司 | Robot monitoring method, system, device, storage medium and processor |
| CN111930116B (en) * | 2020-07-24 | 2022-10-14 | 哈尔滨工程大学 | Large-scale UUV cluster formation method based on grid method |
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