CN108115685A - Multirobot surrounds and seize method - Google Patents
Multirobot surrounds and seize method Download PDFInfo
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- CN108115685A CN108115685A CN201711250876.1A CN201711250876A CN108115685A CN 108115685 A CN108115685 A CN 108115685A CN 201711250876 A CN201711250876 A CN 201711250876A CN 108115685 A CN108115685 A CN 108115685A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
Abstract
The invention belongs to robotic technology fields, and in particular to a kind of multirobot surrounds and seize method.It is a little definite unreasonable to aim to solve the problem that the prior art causes expectation to be surrounded and seize the prediction step number selection shortage adaptability of invader, and then causes to surround and seize the problem of efficiency reduces.The present invention provides a kind of multirobot and surrounds and seize method, invader's search is carried out including multiple robots in multi-robot system, until finding invader；Calculate the global position information of invader；Judge whether to be more than predetermined number threshold value according to the global position information of the invader of storage and whether meet ring of encirclement pinch condition, the desired direction of motion is calculated according to judging result, the robot in multi-robot system is controlled to surround and seize invader.Method provided by the invention can realize that invader predicts the optimum option of step number, improve the efficiency surrounded and seize.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of multirobot surrounds and seize method.
Background technology
With the continuous expansion of mobile robot application field, the requirement to robot is also higher and higher.In face of some
It is complicated, need parallel when completing task, individual machine people is difficult to competent, it is necessary to which multiple robot coordinated cooperations are completed to appoint jointly
Business.In the task of multi-robot coordination cooperation, unpredictability and antagonism that task of surrounding and seize is moved due to invader by
To extensive concern.
It surrounds and seize the multiple robots of mission requirements and completes besieging and chasing to the invader in environment, this is by multiple machines
People, which marches on towards, each it is expected to surround and seize what is a little realized.It is expected to surround and seize the definite efficiency that will directly influence the task of surrounding and seize a little.
Definite aspect a little is surrounded and seize in multi-robot system expectation, and the current location that the prior art is typically based on invader is determined, this
Kind mode will cause robot to be in passive state, be unfavorable for the completion for the task of surrounding and seize；Also there is a small amount of technology that can predict invader
The position that future may reach, and determine that the expectation of multi-robot system is surrounded and seize a little on this basis, but to invader's
Prediction step number is typically rule of thumb drawn, and predicts that step number is often a definite value, reduces the efficiency surrounded and seize.
Therefore, how to propose a kind of scheme to solve the above problems is that those skilled in the art need what is solved to ask at present
Topic.
The content of the invention
It has been to solve the prior art to choose the prediction step number of invader to solve the above problem of the prior art
It is a little definite unreasonable that shortage adaptability causes expectation to be surrounded and seize, and then causes to surround and seize the problem of efficiency reduces, and the present invention provides one
Kind multirobot surrounds and seize method, including：
Step S1：Multiple robots carry out invader's search in multi-robot system, until finding invader；
Step S2：Calculate the global position information of the invader；
Step S3：The robot of the invader is not found, receives and stores the global position letter from other robot
Breath and the global position information of the invader；It was found that the robot of the invader, is receiving from other robot
After global position information and the global position information of the invader, the global position information of other robot is only stored；
Step S4：Whether the number for judging the global position information of the invader of storage is more than predetermined number threshold value,
If it is not, then perform step S7；If so, judge whether the multi-robot system meets default ring of encirclement pinch condition, if
Meet, then step S6 is performed, if not satisfied, then performing step S51；
Step S51：The movement locus of the invader is fitted, the predicted position information of the invader is calculated, performs step
Rapid S52；
Step S52：According to the predicted position information of the invader, the prediction step number of the optimization of the invader is calculated,
It obtains it is expected to surround and seize location information a little, performs step S7；
Step S6：Calculate the expectation of robot when the multi-robot system meets the default ring of encirclement pinch condition
The direction of motion, perform step S7；
Step S7：The robot in the multi-robot system is controlled to surround and seize the invader.
In the optimal technical scheme of the above method, " multiple robots carry out invader's search in multi-robot system ",
Its method is specially：
In the multi-robot system multiple robots according to preset interval time from when front direction, described when front direction
30 ° of directions of left avertence and described when in these three directions of 30 ° of directions of right avertence of front direction randomly choose a direction as it is expected
The direction of motion carry out invader's search.
In the optimal technical scheme of the above method, " the global position information for calculating the invader ", method is：
The distance and relative angle for finding the robot of the invader compared with the invader are calculated by visual identity
Degree；
Obtain the global position information for finding the robot of the invader and the robot works as front direction and geographical north
The angle in direction；
According to finding the robot of the invader compared with the distance of the invader, relative angle, the robot
The angle for working as front direction and real north of global position information and the robot calculates the global position letter of the invader
Described in the method equation below of breath：
Wherein,Represent the invaderGlobal position information,It represents to find the invasion
PersonRobotGlobal position information, Φ represents the robotWhen the angle of front direction and real north,
R represents the robotCompared with the distance of the invader, δrrRepresent the robotWith the phase of the invader
To angle, T represents current time, j=1,2 ..., N, wherein, N represents the number of robot in the multi-robot system.
In the optimal technical scheme of the above method, " judge whether the multi-robot system meets the default ring of encirclement
Pinch condition ", method are：
According to the invaderWith robotLine the other robot of the multi-robot system is divided
For left and right two parts, the robot on the line left side is obtainedSetWith the robot on the right of lineSet
Wherein
According to the invaderWith the robotLine directionThe invaderWith the machine
Device peopleLeft side robotLine directionCalculate line directionWithThe minimum formed
AngleAnd maximum angleWherein,Represent the robotGlobal position information,Enter described in expression
The person of invadingGlobal position information,Represent the robotGlobal position information；
According to the invaderWith the robotLine directionThe invaderWith the machine
Device peopleThe right robotLine directionCalculate line directionWithThe minimum folder formed
AngleAnd maximum angleWherein,Represent the robotGlobal position information；
For any one robotWhenAnd each robot and the invader
Between distanceNo more than k1When, then meet the ring of encirclement pinch condition, be otherwise unsatisfactory for, wherein, θthRepresent pre-
If angle threshold, k1Represent the first predetermined threshold value.
In the optimal technical scheme of the above method, " movement locus for being fitted the invader ", method is：
According to the global position information of the invader of storage, it is fitted the invader's by cubic spline interpolation
Movement locus.
In the optimal technical scheme of the above method, " the prediction step number of the optimization of the invader is calculated, obtains it is expected to enclose
Catch location information a little ", method is：
Based on the invaderPredicted positionWith the current location of each robotGenerate each robot ξ
Prediction step is surrounded and seize a little, ξ ∈ [0, ξmax], wherein, ξ represents prediction step number, ξmaxRepresent default maximum predicted step number；Will from institute
The position for stating the farthest robot of invader is denoted asCurrent location based on the invaderWith the position of the robot farthest from the invaderDetermine reference vector The position respectively surrounded and seize a little of ξ prediction steps is calculated according to above-mentioned valueShown in specific computational methods equation below：
Wherein, ρ represents the radius of the ring of encirclement of default multi-robot system,ForMould；
From each robotCurrent locationTo the position respectively surrounded and seize a little of ξ prediction steps's
One-to-one mapping combination hasKind；Qu Ge robots current location is to the distance and minimum a pair for respectively surrounding and seize a position
One mapping combination, by robot under the combinationThe corresponding position surrounded and seize a little is denoted as PE,j(ξ), wherein,
With reference to the P under each robot current location and different ξE,j(ξ) determines the prediction step number ξ of optimization*, it is specific to count
Shown in calculation method equation below：
The robotBy ξ*Predict the position P surrounded and seize a little of stepE,j(ξ*) as it is expected to surround and seize position a little.
In the optimal technical scheme of the above method, " robot in the multi-robot system is controlled to the invasion
Person is surrounded and seize ", method is：
The angle for working as front direction and the desired direction of motion of robot in the multi-robot system, controls institute
The speed for stating the left and right wheel of the robot in multi-robot system surrounds and seize the invader.
In the optimal technical scheme of the above method, " the left and right wheel of the robot in the multi-robot system is controlled
Speed ", method are：
The angle for working as front direction and the desired direction of motion of robot in the multi-robot system, controls institute
It states shown in the method formula specific as follows of the revolver speed of the robot in multi-robot system：
The angle for working as front direction and the desired direction of motion of robot in the multi-robot system, controls institute
It states shown in the method formula specific as follows of the right wheel speed of the robot in multi-robot system：
Wherein, vfixRepresent default reference speed, kpRepresent the 3rd preset constant, δceRepresent the multi-robot system
In robot when the angle of front direction and the desired direction of motion.
Compared with the immediate prior art, the present invention provides a kind of multirobot and surrounds and seize method, including step S1：Multimachine
Multiple robots carry out invader's search in device people's system, until finding invader；Step S2：Calculate the global position of invader
Information；Step S3：The robot of invader is not found, receives and stores the global position information from other robot and is entered
The global position information for the person of invading；It was found that the robot of invader, receive global position information from other robot and
After the global position information of invader, the global position information of other robot is only stored；Step S4：Judge the invader of storage
Global position information number whether be more than predetermined number threshold value, if it is not, then performing step S7；If so, judge multimachine device
Whether people's system meets default ring of encirclement pinch condition, if satisfied, step S6 is then performed, if not satisfied, then performing step
S51；Step S51：The movement locus of invader is fitted, calculates the predicted position information of invader, performs step S52；Step
S52：According to the predicted position information of invader, the prediction step number of the optimization of invader is calculated, obtains it is expected to surround and seize position a little
Information performs step S7；Step S6：Calculate the expectation of robot when multi-robot system meets default ring of encirclement pinch condition
The direction of motion, perform step S7；Step S7：Invader surrounds and seize in robot in control multi-robot system.
Above-mentioned technical proposal at least has the advantages that：The multirobot method of surrounding and seize of the present invention can be in invader
Location information fundamentals of forecasting on, realize prediction step number optimum option, and then combine optimization prediction step number obtain accordingly
It is expected to surround and seize a little, fix so as to well solve prior art prediction step number or determine to enclose according to invader current location
The shortcomings that catching, the efficiency surrounded and seize is improved.
Description of the drawings
Fig. 1 is the flow diagram that multirobot of the present invention surrounds and seize method.
Specific embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
All other embodiments obtained without making creative work belong to the scope of protection of the invention
The preferred embodiment of the present invention described with reference to the accompanying drawings.It will be apparent to a skilled person that this
A little embodiments are used only for explaining the technical principle of the present invention, it is not intended that limit the scope of the invention.
Refering to attached drawing 1, Fig. 1 illustratively gives the flow diagram that multirobot of the present invention surrounds and seize method.Such as Fig. 1 institutes
Show, the multirobot method of surrounding and seize of the present invention comprises the following steps：
Step S1：Multiple robots carry out invader's search in multi-robot system, until finding invader；
In embodiments of the present invention, invader assembles a colour code cylinder for scribbling designated color, and wherein designated color can be with
It is set according to the requirement of technical staff, generally, the color of colour code cylinder should be different from ambient enviroment as much as possible, colour code cylinder
Color can be red, yellow etc., not limit herein.Colour code cylinder is a hollow cylindrical tube, center and invader
Center is consistent.Robot is using itself visual sensor by completing the knowledge to invader to the visual identity of colour code cylinder
Not, robot obtains itself global position and direction respectively using GPS and electronic compass, and passes through wireless office between robot
Domain net is transferred into row information.For multi-robot system, to arrive invader's when there are a robots in multi-robot system
Distance is no more than predetermined threshold value DstopWhen, it is meant that multi-robot system completes the task of surrounding and seize of invader, all robots
Stop motion.Wherein, predetermined threshold value DstopValue can be 1.4m or 1.6m, specific value can be according to engineer
Experience or the requirement of client set, do not limit herein.
When robot in multi-robot system does not find invader, the robot in multi-robot system continues
Invader is searched in environment residing for it, until thering is machine people to find invader or receiving the invasion of other robot transmission
Until the location information of person.Specifically, when invader is searched in environment of the robot residing for it, the direction of motion desirably
It is scanned for the control mode of step S7, wherein, the desired direction of motion refers to robot by default interval time TtiFrom
Robot works as front direction, when 30 ° of directions of left avertence of front direction and when random in these three directions of 30 ° of directions of right avertence of front direction
One is selected as the desired direction of motion.Wherein, default interval time TtiCan be 2s, or 1s, it is specific to be worth
It can be set according to the experience of engineer or the requirement of client, not limited herein.In order to technology realize reliability,
Robot equally may be employed to simulate in invader, and invader can be according to preset route, can also be according to random
Route is walked.
Step S2：Calculate the global position information of invader；
When the robot in multi-robot system finds invader, it is found that the robot of invader is passed using itself vision
Sensor carries out invader vision measurement, and combines itself global position information and direction, calculates the global position of invader
It puts and stores, the global position information of invader and the global position information of itself are wirelessly sent to it
His robot, and not finding the robot of invader also needs the global position information of its own being wirelessly sent to it
His robot.
Specifically, robot is as follows according to the detailed process of itself GPS acquisition global positions：Choose multi-robot system institute
In running environment is some origin, using real north as x-axis direction, using the incremental direction of warp as y-axis direction, establishes plane
Rectangular coordinate system Σg；Remember ΣgOrigin corresponding to GPS information be (xg,yg), robot is by the GPS information of itself and (xg,
yg) make poor, global position of the obtained difference i.e. as robot.
In a preferred embodiment of the embodiment of the present invention, the robot of invader is found by vision measurement, and
With reference to the global position information of itself and direction, the method for calculating the global position of invader is as follows：
Robot is by completing the visual identity of colour code cylinder the identification to invader, with reference to vision calibration, and then according to
Following calculating process obtain robot compared with the distance r of invader and relative angle δrr：
The coordinate that (a, b) is the upper point of pixel coordinate system uov is defined, (c, d, e) is this under world coordinate system
Coordinate, wherein, the origin o of pixel coordinate system uov is located at the upper left corner of image, and the both sides of u axis and v axis respectively with image plane are put down
Row, then as shown in formula (1)：
Wherein,For the Intrinsic Matrix of robotic vision sensor, obtained by camera calibration
It arrives, αcAnd αdIt is referred to as the scale factor of u axis and v axis, (a0,b0) for visual sensor optical axis and image plane intersection point in picture
Coordinate under plain coordinate system uov.
Remember (a1,b1) and (a2,b2) it is respectively coordinate of the point of colour code cylinder top and bottom under pixel coordinate system uov,
(c1,d1,e1) and (c2,d2,e2) be respectively world coordinate system corresponding to foregoing 2 points coordinate, wherein, a1=a2, e1=e2,
d2-d1For the actual height of colour code cylinder, then robot is compared with shown in the computational methods such as formula (2) of the distance r of invader：
Wherein, b2-b1Represent height of the colour code cylinder under pixel coordinate system uov.
Remember (acb,bcb) for coordinate of the central point under pixel coordinate system uov of colour code cylinder, ar,θbImage is represented respectively
Width and the width in the visual field, then the relative angle δ of robot and invaderrrComputational methods such as formula (3) shown in：
So far, by the above-mentioned robot that is calculated compared with the distance r of invader and relative angle δrr, further according to above-mentioned
Value calculate the global position information of invader, specific method is as follows：
WithRobot in multi-robot system is described, wherein, N is of robot
Number, T represent current time, useInvader is described.For robotFor, the global position of itself is obtained according to GPSWherein,The x coordinate and y-coordinate of robot global position are represented respectively, are obtained using electronic compass
Itself works as front direction, and the angle of the direction and real north is as deflection Φ.When robot face real north, Φ=
0, it counterclockwise takes negative, takes clockwise just, Φ ∈ (- π, π].RobotCalculate invaderGlobal positionComputational methods such as formula (4) shown in：
Step S3：Receive storage global position information；
The robot of invader is not found, receives the global position information from other robot and the overall situation of invader
Location information, and store above- mentioned information；It was found that the robot of invader, is receiving the global position information from other robot
And after the global position information of invader, the global position information of other robot is only stored.
Step S4：Step selection is carried out according to storage information；
In practical applications, the considerations of uncertain is moved for invader, robot only stores the invader of acquisition
Newest K global position information and the newest 1 global position information of other robot.Wherein K is predetermined number threshold
Value, K is positive integer, and specific value can be set according to the experience of engineer, and specific value can be 6, or
8, it no longer limits herein.When invader's global position information of robot storage is less than K, robot does not have enough information
The movement of invader is predicted, then robot is using the global position information at invader's current time it is expected to surround and seize position a little
It puts, connection robot current location surrounds and seize position a little with expectation, as the desired motion direction of robot, using step
The control mode control robot motion of S7；When invader's global position information of robot storage reaches K, and meet multimachine
The ring of encirclement pinch condition of device people's system after then jumping to step S6, performs step S7；If the invader of robot storage is global
Location information reaches K, but is unsatisfactory for the ring of encirclement pinch condition of multi-robot system, then after jumping to step S51, performs
Step S52 and step S7.
In a preferred embodiment of the embodiment of the present invention, the ring of encirclement pinch condition of multi-robot system is specific
For：
According to invaderWith robotLine other robot is divided into two parts, j=1,2 ..., N are obtained
The robot on the line left sideSetWith the robot on the right of lineSetWherein
According to invaderWith robotLine directionInvaderAnd robotLeft side robot's
Line directionSolve line directionWithThe minimum angle formedAnd maximum angle
Shown in specific computational methods such as formula (5)：
Wherein,For robotGlobal position information.
Similarly, according to invaderAnd robotLine directionInvaderAnd robotThe right side
Side robotLine directionSolve line directionWithThe minimum angle formedMost
MitreShown in specific computational methods such as formula (6)：
Wherein,For robotGlobal position information.
For any one robotWhenAnd each robot and
InvaderBetween distanceNo more than k1When, it may be considered that meet the condition of ring of encirclement contraction, wherein, θthFor
Default angle threshold, k1For the first predetermined threshold value, θthValue can be π, k1Value can be 4m, in addition to this it is possible to
Other values are set as according to the requirement of the experience of engineer and client, are not limited herein.
Step S51：Cubic spline interpolation is fitted the movement locus of invader；
When invader's global position information of robot storage reaches K, but it is unsatisfactory for the ring of encirclement of multi-robot system
During pinch condition, the movement locus of invader is fitted by the method for cubic spline interpolation, and then is realized to invader position
Prediction.
The specific method that the movement locus of invader is fitted by the method for cubic spline interpolation is：
Remember invaderK-1 global position before current time be respectivelyFor t ∈ [T-i, T-i+1] (i=1,2 ...,
K-1), shown in the computational methods of linear function S " (t) such as formula (7)：
Wherein, MT-i=S " (T-i), MT-i+1=S " (T-i+1), hT-iRepresent the length of section [T-i, T-i+1].
The x coordinate of K invader's global position based on storageCalculate linear function S "
(t) method on the interpolating function S (t) of x-axis is specific as shown in formula (8)：
Such as formula (9) specific to the computational methods of S (t) derivations is shown：
According to the natural boundary conditions of cubic spline interpolation：MT=S " (T)=0 and MT-K+1=S " (T-K+1)=0, can
Draw formula (10)：
Wherein, τ=
T-1, T-2 ..., T-K+2 with reference to the First Boundary Condition of cubic spline interpolation, are drawn：dT=2MT+MT-1, dT-K+1=
2MT-K+1+MT-K+2, uT=1, vT-K+1=1.
M is solved by chasing methodτThe value of (τ=T-1, T-2 ..., T-K+2) realizes the fitting of invader's movement locus, into
And estimate the x coordinate of the predicted position of invader, shown in circular such as formula (11)：
Wherein, ξ is prediction step number, and ξ is positive integer, ξ ∈ [0, ξmax], ξ=0 is corresponding with invader's current time, ξmax
For default maximum predicted step number, ξmaxValue can be 6, or 8, specific value can according to the experience of engineer or
The requirement of person client is set, and is not limited herein.
Similarly, the y-coordinate of K invader's global position based on storageEstimate invasion
The y-coordinate of the predicted position of personSo as to obtain the predicted position of invaderξ=0 is to invade
The global position at person's current timePerform step S52.
Step S52：The prediction step number of the optimization of invader calculates；
Predicted position based on invaderWith the current location of each robotCalculate each machine
The position surrounded and seize a little of device people ξ prediction steps, wherein, ξ ∈ [0, ξmax], and then determine the prediction step number ξ of optimization*, robotBy oneself ξ*It predicts that the position surrounded and seize a little walked surrounds and seize position a little as expectation, connects robotCurrent location
With it is expected to surround and seize position a little, as robotThe desired direction of motion, using the control mode control machine of step S7
Device people moves.Wherein, according to the position surrounded and seize a little of ξ prediction steps, (ξ ∈ [0, ξmax]), determine the prediction step number ξ optimized*
Method it is specific as follows：
Step S521：Predicted position based on invaderWith the current location of each robot
Generate surrounding and seize a little for each robot ξ prediction steps, (ξ ∈ [0, ξmax]), the position of the robot farthest from invader is denoted asCurrent location based on invaderWith the position of the robot farthest from invaderDetermine reference vectorAccording to above-mentioned value
Calculate the position respectively surrounded and seize a little of ξ prediction steps(ξ∈[0,ξmax]), specifically
Computational methods such as formula (12) shown in：
Wherein, ρ represents the radius of the ring of encirclement of default multi-robot system, and specific value can be according to the warp of engineer
It testing or the requirement of client is set, specific value can be 4m, or 4.5m is no longer limited herein,ForMould.
From each robotCurrent locationTo ξ (ξ ∈ [0, ξmax]) pre-
Survey the position respectively surrounded and seize a little of stepOne-to-one mapping combination have
Kind.This is combined to the distance for respectively surrounding and seize a position and minimum one-to-one mapping combination Qu Ge robots current location
Robot under modeThe corresponding position surrounded and seize a little is denoted as PE,j(ξ), wherein,
Step S522：With reference to each robot current location and different ξ (ξ ∈ [0, ξmax]) under PE,j(ξ), j=1,2 ...,
N determines the prediction step number ξ of optimization*, shown in specific computational methods such as formula (13)：
Step S6：Calculate the desired movement side of robot when multi-robot system meets default ring of encirclement pinch condition
To；
When invader's global position information of robot storage reaches, K is a, and the ring of encirclement for meeting multi-robot system is received
Contracting condition, robotAccording toWithCalculate the desired direction of motionIts
In,For robotWith invaderLine direction, specifically, the computational methods of angle beta are specifically such as formula (14)
It is shown：
βdComputational methods such as formula (15) shown in：
Wherein, condition C on1It is equivalent to
Condition C on2It is equivalent to W is the first preset constant,
k2For the second preset constant, the value of w can be π/12, k2Value can be 2, in addition to this it is possible to the experience according to engineer
Requirement with client is set as other values, does not limit herein.
It obtains when multi-robot system meets default ring of encirclement pinch condition after the desired direction of motion of robot, adopting
Robot motion is controlled with the control mode of step S7.
Step S7：Motion planning and robot control；
RobotBased on the desired direction of motion, work as front direction with reference to it, calculate robot when front direction and expectation
The direction of motion angle δce, on the basis of the desired direction of motion, when robot is when front direction is in the desired direction of motion
Left side when, δce∈(-π,0)；When robot is when front direction is on the right side of the desired direction of motion, δce∈[0,π]；It is based on
Robot realizes the control to robot when the speed of front direction and the left and right wheels of the angle control robot of the desired direction of motion
System, wherein, the revolver speed of calculating robotComputational methods such as formula (16) shown in：
The right wheel speed of calculating robotComputational methods such as formula (17) shown in：
Wherein, vfixRepresent default reference speed, kpRepresent the 3rd preset constant, vfixValue can be 0.6m/s, kp's
Value can be -0.1, and in addition, the two value according to the experience of engineer and client can also set,
It does not limit herein.
So far, according to above-mentioned steps S1-S7, it can realize that multi-robot system surrounds and seize invader.
In a kind of preferred embodiment of the embodiment of the present invention, four robots (i.e. N=4) are formed into multirobot system
System, each machine assemble visual sensor, GPS, electronic compass per capita, and channel radio is carried out by WLAN between robot
News.Wherein visual sensor uses TTQ JJ2 cameras, and GPS uses the NovAtel SDI-TimeNav-O of 7 degree of freedom aerial survey, electricity
Sub- compass uses the SEC225 of northern micro sensing company, and WLAN is built by Huawei honor routing Pro (WS851).Specifically,
Robot is to the predetermined threshold value D of invader's distancestop=1.4m, default interval time Tti=2s, the invader's of storage is complete
Predetermined number threshold k=6 of office's location information, default angle threshold θth=π, the first predetermined threshold value k1=4m, it is default most
Big prediction step number ξmax=6, the radius ρ=4m, first preset constant w=π/12, the of the ring of encirclement of default multi-robot system
Two preset constant k2=2, default reference speed vfix=0.6m/s, the 3rd preset constant kp=-0.1.
The step of method or algorithm for being described with reference to the embodiments described herein, can use hardware, processor to perform
The combination of software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only memory
(ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field
In any other form of storage medium well known to interior.
Those skilled in the art should be able to recognize that, each exemplary side described with reference to the embodiments described herein
Method step can realize with the combination of electronic hardware, computer software or the two, in order to clearly demonstrate electronic hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is performed actually with electronic hardware or software mode, specific application and design constraint depending on technical solution.
Those skilled in the art can realize described function to each specific application using distinct methods, but this reality
Now it is not considered that beyond the scope of this invention.
So far, have been combined preferred embodiment shown in the drawings and describe technical scheme, still, this field
Technical staff is it is easily understood that protection scope of the present invention is expressly not limited to these specific embodiments.Without departing from this
On the premise of the principle of invention, those skilled in the art can make correlation technique feature equivalent change or replacement, these
Technical solution after changing or replacing it is fallen within protection scope of the present invention.
Claims (8)
1. a kind of multirobot surrounds and seize method, which is characterized in that including：
Step S1：Multiple robots carry out invader's search in multi-robot system, until finding invader；
Step S2：Calculate the global position information of the invader；
Step S3：Do not find the robot of the invader, receive and store the global position information from other robot with
And the global position information of the invader；It was found that the robot of the invader, is receiving the overall situation from other robot
After the global position information of location information and the invader, the global position information of other robot is only stored；
Step S4：Whether the number for judging the global position information of the invader of storage is more than predetermined number threshold value, if it is not,
Then perform step S7；If so, judge whether the multi-robot system meets default ring of encirclement pinch condition, if satisfied,
Step S6 is then performed, if not satisfied, then performing step S51；
Step S51：The movement locus of the invader is fitted, calculates the predicted position information of the invader, performs step
S52；
Step S52：According to the predicted position information of the invader, the prediction step number of the optimization of the invader is calculated, is obtained
It is expected to surround and seize location information a little, perform step S7；
Step S6：Calculate the desired fortune of robot when the multi-robot system meets the default ring of encirclement pinch condition
Dynamic direction, performs step S7；
Step S7：The robot in the multi-robot system is controlled to surround and seize the invader.
2. according to the method described in claim 1, it is characterized in that, " multiple robots carry out invader in multi-robot system
Search ", method is specially：
In the multi-robot system multiple robots according to preset interval time from when front direction, described when the left avertence of front direction
30 ° of directions and described when in these three directions of 30 ° of directions of right avertence of front direction, one direction of random selection is as desired fortune
Dynamic direction carries out invader's search.
3. according to the method described in claim 2, it is characterized in that, " the global position information for calculating the invader ", side
Method is：
The distance and relative angle for finding the robot of the invader compared with the invader are calculated by visual identity；
Obtain the global position information for finding the robot of the invader and the robot works as front direction and real north
Angle；
According to find the robot of the invader compared with the distance of the invader, relative angle, the robot the overall situation
The angle for working as front direction and real north of location information and the robot, calculates the global position information of the invader
Described in method equation below：
<mrow>
<mfenced open = "(" close = ")">
<mtable>
<mtr>
<mtd>
<msubsup>
<mi>x</mi>
<mi>T</mi>
<mi>G</mi>
</msubsup>
</mtd>
</mtr>
<mtr>
<mtd>
<msubsup>
<mi>y</mi>
<mi>T</mi>
<mi>G</mi>
</msubsup>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>=</mo>
<mfenced open = "(" close = ")">
<mtable>
<mtr>
<mtd>
<msubsup>
<mi>x</mi>
<mi>T</mi>
<mi>j</mi>
</msubsup>
</mtd>
</mtr>
<mtr>
<mtd>
<msubsup>
<mi>y</mi>
<mi>T</mi>
<mi>j</mi>
</msubsup>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>+</mo>
<mfenced open = "(" close = ")">
<mtable>
<mtr>
<mtd>
<mrow>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mi>&Phi;</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mi>s</mi>
<mi>i</mi>
<mi>n</mi>
<mi>&Phi;</mi>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mi>s</mi>
<mi>i</mi>
<mi>n</mi>
<mi>&Phi;</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<mi>cos</mi>
<mi>&Phi;</mi>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mfenced open = "(" close = ")">
<mtable>
<mtr>
<mtd>
<mi>r</mi>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<msub>
<mi>&delta;</mi>
<mrow>
<mi>r</mi>
<mi>r</mi>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>rsin&delta;</mi>
<mrow>
<mi>r</mi>
<mi>r</mi>
</mrow>
</msub>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
</mrow>
Wherein,Represent the invaderGlobal position information,It represents to find the invader
RobotGlobal position information, Φ represents the robotWhen the angle of front direction and real north, r is represented
The robotCompared with the distance of the invader, δrrRepresent the robotWith the relative angle of the invader
Degree, T expression current times, j=1,2 ..., N, wherein, N represents the number of robot in the multi-robot system.
4. according to the method described in claim 3, it is characterized in that, " it is default to judge whether the multi-robot system meets
Ring of encirclement pinch condition ", method are：
According to the invaderWith robotLine by the other robot of the multi-robot system be divided into it is left,
Right two parts obtain the robot on the line left sideSetWith the robot on the right of lineSetWherein
According to the invaderWith the robotLine directionThe invaderWith the robotLeft side robotLine directionCalculate line directionWithThe minimum angle formedAnd maximum angleWherein,Represent the robotGlobal position information,Represent the invaderGlobal position information,Represent the robotGlobal position information；
According to the invaderWith the robotLine directionThe invaderWith the robotThe right robotLine directionCalculate line directionWithThe minimum angle formedAnd maximum angleWherein,Represent the robotGlobal position information；
For any one robotWhenAnd each robot and the invaderBetween away from
FromNo more than k1When, then meet the ring of encirclement pinch condition, be otherwise unsatisfactory for, wherein, θthRepresent default angle
Spend threshold value, k1Represent the first predetermined threshold value.
5. according to the method described in claim 4, it is characterized in that, " movement locus for being fitted the invader ", method is：
According to the global position information of the invader of storage, the movement of the invader is fitted by cubic spline interpolation
Track.
6. according to the method described in claim 5, it is characterized in that, " the prediction step number of the optimization of the invader is calculated, is obtained
It is expected to surround and seize location information a little ", method is：
Based on the invaderPredicted positionWith the current location of each robotGenerate each robot ξ predictions
Step is surrounded and seize a little, ξ ∈ [0, ξmax], wherein, ξ represents prediction step number, ξmaxRepresent default maximum predicted step number；Will from it is described enter
The position of the farthest robot of the person of invading is denoted asCurrent location based on the invader
With the position of the robot farthest from the invaderDetermine reference vector The position respectively surrounded and seize a little of ξ prediction steps is calculated according to above-mentioned value
Q=1,2 ..., N, shown in specific computational methods equation below：
Wherein, ρ represents the radius of the ring of encirclement of default multi-robot system,ForMould；
From each robotCurrent locationTo the position respectively surrounded and seize a little of ξ prediction stepsA pair
One mapping combination hasKind；Qu Ge robots current location is reflected to the distance and the one-to-one of minimum for respectively surrounding and seize a position
Combination is penetrated, by robot under the combinationThe corresponding position surrounded and seize a little is denoted as PE,j(ξ), wherein,
With reference to the P under each robot current location and different ξE,j(ξ) determines the prediction step number ξ of optimization*, specific calculating side
Shown in method equation below：
<mrow>
<msup>
<mi>&xi;</mi>
<mo>*</mo>
</msup>
<mo>=</mo>
<munder>
<mrow>
<mi>arg</mi>
<mi>min</mi>
</mrow>
<mrow>
<mi>&xi;</mi>
<mo>&Element;</mo>
<mo>&lsqb;</mo>
<mn>0</mn>
<mo>,</mo>
<msub>
<mi>&xi;</mi>
<mi>max</mi>
</msub>
<mo>&rsqb;</mo>
</mrow>
</munder>
<mfrac>
<msup>
<mi>e</mi>
<mrow>
<mn>1.05</mn>
<mi>&xi;</mi>
</mrow>
</msup>
<mi>N</mi>
</mfrac>
<mrow>
<mo>(</mo>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>j</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>N</mi>
</munderover>
<msup>
<mrow>
<mo>(</mo>
<mrow>
<mo>|</mo>
<msubsup>
<mi>P</mi>
<mi>T</mi>
<mi>j</mi>
</msubsup>
<msup>
<mi>P</mi>
<mrow>
<mi>E</mi>
<mo>,</mo>
<mi>j</mi>
</mrow>
</msup>
<mrow>
<mo>(</mo>
<mi>&xi;</mi>
<mo>)</mo>
</mrow>
<mo>|</mo>
<mo>-</mo>
<mfrac>
<mn>1</mn>
<mi>N</mi>
</mfrac>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>j</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>N</mi>
</munderover>
<mo>|</mo>
<msubsup>
<mi>P</mi>
<mi>T</mi>
<mi>j</mi>
</msubsup>
<msup>
<mi>P</mi>
<mrow>
<mi>E</mi>
<mo>,</mo>
<mi>j</mi>
</mrow>
</msup>
<mrow>
<mo>(</mo>
<mi>&xi;</mi>
<mo>)</mo>
</mrow>
<mo>|</mo>
</mrow>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>)</mo>
</mrow>
</mrow>
The robotBy ξ*Predict the position P surrounded and seize a little of stepE,j(ξ*) as it is expected to surround and seize position a little.
7. according to the method described in claim 6, it is characterized in that, " robot in the multi-robot system is controlled to institute
Invader is stated to be surrounded and seize ", method is：
The angle for working as front direction and the desired direction of motion of robot in the multi-robot system, control are described more
The speed of the left and right wheel of robot in robot system surrounds and seize the invader.
8. the method according to the description of claim 7 is characterized in that " control the robot in the multi-robot system a left side,
The speed of right wheel ", method are：
The angle for working as front direction and the desired direction of motion of robot in the multi-robot system, control are described more
Shown in the method formula specific as follows of the revolver speed of robot in robot system：
<mrow>
<msubsup>
<mi>V</mi>
<mrow>
<mi>l</mi>
<mi>e</mi>
<mi>f</mi>
<mi>t</mi>
</mrow>
<mi>j</mi>
</msubsup>
<mo>=</mo>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>v</mi>
<mrow>
<mi>f</mi>
<mi>i</mi>
<mi>x</mi>
</mrow>
</msub>
<mo>+</mo>
<msub>
<mi>k</mi>
<mi>p</mi>
</msub>
<msub>
<mi>&delta;</mi>
<mrow>
<mi>c</mi>
<mi>e</mi>
</mrow>
</msub>
</mrow>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mn>0.2</mn>
<mo>&le;</mo>
<msub>
<mi>k</mi>
<mi>p</mi>
</msub>
<msub>
<mi>&delta;</mi>
<mrow>
<mi>c</mi>
<mi>e</mi>
</mrow>
</msub>
<mo>&le;</mo>
<mn>0.2</mn>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>v</mi>
<mrow>
<mi>f</mi>
<mi>i</mi>
<mi>x</mi>
</mrow>
</msub>
<mo>+</mo>
<mn>0.2</mn>
</mrow>
</mtd>
<mtd>
<mrow>
<msub>
<mi>k</mi>
<mi>p</mi>
</msub>
<msub>
<mi>&delta;</mi>
<mrow>
<mi>c</mi>
<mi>e</mi>
</mrow>
</msub>
<mo>></mo>
<mn>0.2</mn>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>v</mi>
<mrow>
<mi>f</mi>
<mi>i</mi>
<mi>x</mi>
</mrow>
</msub>
<mo>-</mo>
<mn>0.2</mn>
</mrow>
</mtd>
<mtd>
<mrow>
<msub>
<mi>k</mi>
<mi>p</mi>
</msub>
<msub>
<mi>&delta;</mi>
<mrow>
<mi>c</mi>
<mi>e</mi>
</mrow>
</msub>
<mo><</mo>
<mo>-</mo>
<mn>0.2</mn>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
</mrow>
The angle for working as front direction and the desired direction of motion of robot in the multi-robot system, control are described more
Shown in the method formula specific as follows of the right wheel speed of robot in robot system：
<mrow>
<msubsup>
<mi>V</mi>
<mrow>
<mi>r</mi>
<mi>i</mi>
<mi>g</mi>
<mi>h</mi>
<mi>t</mi>
</mrow>
<mi>j</mi>
</msubsup>
<mo>=</mo>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>v</mi>
<mrow>
<mi>f</mi>
<mi>i</mi>
<mi>x</mi>
</mrow>
</msub>
<mo>-</mo>
<msub>
<mi>k</mi>
<mi>p</mi>
</msub>
<msub>
<mi>&delta;</mi>
<mrow>
<mi>c</mi>
<mi>e</mi>
</mrow>
</msub>
</mrow>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mn>0.2</mn>
<mo>&le;</mo>
<msub>
<mi>k</mi>
<mi>p</mi>
</msub>
<msub>
<mi>&delta;</mi>
<mrow>
<mi>c</mi>
<mi>e</mi>
</mrow>
</msub>
<mo>&le;</mo>
<mn>0.2</mn>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>v</mi>
<mrow>
<mi>f</mi>
<mi>i</mi>
<mi>x</mi>
</mrow>
</msub>
<mo>-</mo>
<mn>0.2</mn>
</mrow>
</mtd>
<mtd>
<mrow>
<msub>
<mi>k</mi>
<mi>p</mi>
</msub>
<msub>
<mi>&delta;</mi>
<mrow>
<mi>c</mi>
<mi>e</mi>
</mrow>
</msub>
<mo>></mo>
<mn>0.2</mn>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>v</mi>
<mrow>
<mi>f</mi>
<mi>i</mi>
<mi>x</mi>
</mrow>
</msub>
<mo>+</mo>
<mn>0.2</mn>
</mrow>
</mtd>
<mtd>
<mrow>
<msub>
<mi>k</mi>
<mi>p</mi>
</msub>
<msub>
<mi>&delta;</mi>
<mrow>
<mi>c</mi>
<mi>e</mi>
</mrow>
</msub>
<mo><</mo>
<mo>-</mo>
<mn>0.2</mn>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
</mrow>
Wherein, vfixRepresent default reference speed, kpRepresent the 3rd preset constant, δceIt represents in the multi-robot system
The angle for working as front direction and the desired direction of motion of robot.
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