CN109283927A - A kind of multiple mobile robot's cooperative control method and system based on network-control - Google Patents
A kind of multiple mobile robot's cooperative control method and system based on network-control Download PDFInfo
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- CN109283927A CN109283927A CN201811032228.3A CN201811032228A CN109283927A CN 109283927 A CN109283927 A CN 109283927A CN 201811032228 A CN201811032228 A CN 201811032228A CN 109283927 A CN109283927 A CN 109283927A
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
Abstract
The invention discloses a kind of multiple mobile robot's cooperative control method and system based on network-control, wherein, the described method includes: carrying out locating and tracking to wheeled mobile robot based on wireless sensor network, and the location coordinate information of the acquisition of locating and tracking is fed back into user terminal；The wheeled mobile robot includes at least a main wheeled mobile robot and one from wheeled mobile robot；The user terminal calculates the global pose of the wheeled mobile robot according to the location coordinate information of acquisition, obtains the global pose of the wheeled mobile robot；Judge the global position and attitude error whether in preset threshold range；If be judged as NO, the global position and attitude error is imported in the mobile controller of the wheeled mobile robot, displacement correction is carried out.In embodiments of the present invention, it can control, realization multiple mobile robot collaborative work synchronous with the movement of main wheeled mobile robot from wheeled mobile robot through the embodiment of the present invention.
Description
Technical field
The present invention relates to robot Collaborative Control technical field more particularly to a kind of how mobile machines based on network-control
People's cooperative control method and system.
Background technique
Robot (Robot) is the automatic installations for executing work；It can not only receive mankind commander, but also can run
The program of preparatory layout, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or take
For the work of human work, such as production industry, construction industry, or dangerous work.
When multiple machine person cooperative works, there may be some kinematic errors between each robot, lead
It causes between multirobot when cooperating, the problems such as can not accurately completing scheduled task.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, more shiftings based on network-control that the present invention provides a kind of
Mobile robot cooperative control method and system can adjust the pose between robot and main robot, so that machine in real time
The set work of completion mutually more cooperateed between people.
In order to solve the above-mentioned technical problem, the embodiment of the invention provides a kind of multiple mobile robots based on network-control
Cooperative control method, which comprises
Locating and tracking is carried out to wheeled mobile robot based on wireless sensor network, and by the position of the acquisition of locating and tracking
It sets coordinate information and feeds back to user terminal；The wheeled mobile robot includes at least a main wheeled mobile robot and one
From wheeled mobile robot；
The user terminal calculates the global pose of the wheeled mobile robot according to the location coordinate information of acquisition, obtains
Take the global pose of the wheeled mobile robot；
Judge the global position and attitude error whether in preset threshold range；
If be judged as NO, the global position and attitude error is imported to the mobile controller of the wheeled mobile robot
In, carry out displacement correction.
Optionally, the method also includes:
User in the user terminal based on the wireless sensor network to wheeled mobile robot send positioning with
Track order.
It is optionally, described that locating and tracking is carried out to wheeled mobile robot based on wireless sensor network, comprising:
Obtain the motion model of the wheeled mobile robot；
The location coordinate information for obtaining the wheeled mobile robot is calculated based on the motion model；
Wherein the model formation of the motion model is as follows:
X (k+1)=A (k) X (k)+w (k, Δ tk)；
Wherein, X (k)=[x (k) vx(k) y(k) vy(k)]T, x (k) and y (k) are wheeled mobile robot respectively in k
The coordinate in a sampling period, vx(k) and vy(k) be k-th of sampling period wheeled mobile robot velocity component, w (k, Δ tk)
It is process noise, Δ tkFor the sampling time.
Optionally, the user terminal calculates the overall situation of the wheeled mobile robot according to the location coordinate information of acquisition
Pose obtains the global pose of the wheeled mobile robot, comprising:
The course angle that the wheeled mobile robot is calculated according to the location coordinate information obtains the wheel type mobile machine
The course angle of device people；
According to the course angle and it is described set coordinate information, obtain the global pose of the wheeled mobile robot.
Optionally, the course angle that the wheeled mobile robot is calculated according to the location coordinate information, comprising:
The course angle of the wheeled mobile robot is calculated based on least square method according to the location coordinate information；
Wherein calculation formula is as follows:
Wherein, i=k-m+1 ..., k；X (i), y (i) are wheeled mobile robots after each Kalman filtering algorithm iteration
The maximum likelihood estimate of people's measurement coordinate；M is the integer less than k, and k is using number of cycles.
Optionally, described as follows according to the course angle and the formula for setting coordinate information:
P=[x y θ]T；
Wherein, P is the global pose of the wheeled mobile robot；X, y are the wheeled mobile robot coordinate information；
θ is the course angle of the wheeled mobile robot.
Optionally, the method also includes:
If be judged as YES, the user terminal is returned according to the location coordinate information of acquisition and calculates the wheel type mobile machine
The global pose of device people obtains the global pose of the wheeled mobile robot.
In addition, the embodiment of the invention also provides a kind of multiple mobile robot's cooperative control system based on network-control,
The system comprises:
Locating and tracking module: for carrying out locating and tracking to wheeled mobile robot based on wireless sensor network, and will
The location coordinate information of the acquisition of locating and tracking feeds back to user terminal；The wheeled mobile robot includes at least a main wheel
Formula mobile robot and one are from wheeled mobile robot；
Computing module: the wheeled mobile robot is calculated according to the location coordinate information of acquisition for the user terminal
Global pose, obtain the global pose of the wheeled mobile robot；
Judgment module: for judging the global position and attitude error whether in preset threshold range；
Correct module: if when for being judged as NO, the global position and attitude error is imported the wheeled mobile robot
In mobile controller, displacement correction is carried out.
In embodiments of the present invention, principal and subordinate's wheel is calculated by the location coordinate information of principal and subordinate's wheeled mobile robot of acquisition
The global pose of formula mobile robot；Judge principal and subordinate's wheeled mobile robot global pose difference whether in threshold range to from
Wheeled mobile robot carries out shifting and correcting, so that the movement of principal and subordinate's wheeled mobile robot is consistent, principal and subordinate's wheeled mobile robot
The set work of completion mutually more cooperateed between people.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it is clear that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the process signal of multiple mobile robot's cooperative control method based on network-control in the embodiment of the present invention
Figure；
Fig. 2 is the structure composition of multiple mobile robot's cooperative control system based on network-control in the embodiment of the present invention
Schematic diagram.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
Embodiment:
Referring to Fig. 1, Fig. 1 is multiple mobile robot's cooperative control method based on network-control in the embodiment of the present invention
Flow diagram.
As shown in Figure 1, a kind of multiple mobile robot's cooperative control method based on network-control, which comprises
S11: user is sent based on the wireless sensor network to wheeled mobile robot in the user terminal to be determined
Position trace command；
In our specific implementation process, shown locating and tracking order is operated by the operation interface of user on the subscriber terminal
It generates, comprising: user carries out the certification of identity body at the user terminal operations interface, confirms that the user is legitimate user；
After confirming that the user is legitimate user, the user is allowed to carry out locating and tracking order on user terminal operations interface
Operation is generated, the locating and tracking order is generated.The locating and tracking order of production is based on wireless sensor network to wheeled shifting
Mobile robot is sent；Wherein, wireless sensor network is made of communication modules such as zigbee or bluetooth or WiFi.
S12: locating and tracking is carried out to wheeled mobile robot based on wireless sensor network, and by the acquisition of locating and tracking
Location coordinate information feed back to user terminal；The wheeled mobile robot include at least main wheeled mobile robot and
One from wheeled mobile robot；
In specific implementation process of the present invention, what when wireless sensor network was made of zigbee wireless communication module；It is first
First, wireless sensor network is initialized accordingly, on human-computer interaction interface on the subscriber terminal, clicks starting life
It enables, it is each that the work token of task node and communicated tokens are transmitted to network by zigbee wireless communication module by active base station
Node, wherein work token and communicated tokens constitute and send locating and tracking order；Wheeled mobile robot is obtaining work token
Task node after, starting sonar carry out ranging, ranging completion after, task node according to communicated tokens order will
One measurement data is transmitted by zigbee wireless communication module in the monitoring base station in wireless sensor network, and base station pair is monitored
Asynchronous measurement data carry out data fusion, obtain the motion model of wheeled mobile robot, calculate wheeled mobile robot
Position, according to the latest position of the wheeled mobile robot of acquisition, base station generates the new work token of task node and communication enables
Board, then be broadcasted by zigbee wireless communication module, to obtain the location coordinate information of wheeled mobile robot.
Specifically, described carry out locating and tracking to wheeled mobile robot based on wireless sensor network, comprising: obtain institute
State the motion model of wheeled mobile robot；The position seat for obtaining the wheeled mobile robot is calculated based on the motion model
Mark information；Wherein the model formation of the motion model is as follows:
X (k+1)=A (k) X (k)+w (k, Δ tk)；
Wherein, X (k)=[x (k) vx(k) y(k) vy(k)]T, x (k) and y (k) are wheeled mobile robot respectively in k
The coordinate in a sampling period, vx(k) and vy(k) be k-th of sampling period wheeled mobile robot velocity component, w (k, Δ tk)
It is process noise, Δ tkFor the sampling time.
In specific implementation process of the present invention, the wheeled mobile robot includes at least a main wheeled mobile robot
With one from wheeled mobile robot.
S13: the user terminal calculates the global position of the wheeled mobile robot according to the location coordinate information of acquisition
Appearance obtains the global pose of the wheeled mobile robot；
In specific implementation process of the present invention, the user terminal calculates described wheeled according to the location coordinate information of acquisition
The global pose of mobile robot obtains the global pose of the wheeled mobile robot, comprising: is believed according to the position coordinates
Breath calculates the course angle of the wheeled mobile robot, obtains the course angle of the wheeled mobile robot；According to the course
Angle and it is described set coordinate information, obtain the global pose of the wheeled mobile robot.
Further, the course angle that the wheeled mobile robot is calculated according to the location coordinate information, comprising:
The course angle of the wheeled mobile robot is calculated based on least square method according to the location coordinate information；Wherein
Calculation formula is as follows:
Wherein, i=k-m+1 ..., k；X (i), y (i) are wheeled mobile robots after each Kalman filtering algorithm iteration
The maximum likelihood estimate of people's measurement coordinate；M is the integer less than k, and k is using number of cycles.
It is described as follows according to the course angle and the formula for setting coordinate information:
P=[x y θ]T；
Wherein, P is the global pose of the wheeled mobile robot；X, y are the wheeled mobile robot coordinate information；
θ is the course angle of the wheeled mobile robot.
Specifically, needing principal and subordinate's wheeled mobile robot to reach synchronous in wireless sensor network, relative pose one is needed
It causes；Therefore need to calculate the track centers of principal and subordinate's wheeled mobile robot circular motion, i.e. the world coordinates in the center of circle, principal and subordinate is wheeled
The variables such as mobile robot course angle.
In specific implementation process of the present invention, the calculating of course angle is calculated using least square method, is obtained calculating
After course angle, the global pose of wheeled mobile robot can be obtained according to course angle and coordinate.
S14: judge the global position and attitude error whether in preset threshold range；
In specific implementation process of the present invention, need to get the global pose of wheeled mobile robot respectively, using master
Subtracted each other that (the global pose of main wheeled mobile robot is subtracted from wheel type mobile machine from the global pose of wheeled mobile robot
The global pose of device people), to get global position and attitude error, after getting global position and attitude error, utilize global pose
Whether error and preset threshold value carry out matching judgment, judge global position and attitude error in the range of preset threshold.When judging
When in preset threshold range, S13 step is returned.
S15: if be judged as NO, the mobile control that the global position and attitude error imports the wheeled mobile robot is filled
In setting, displacement correction is carried out.
It is when determining global position and attitude error not in default range, this is complete in our specific implementation process
Office's position and attitude error imports in the corresponding mobile controller from wheeled mobile robot, and the mobile controller is according to importing
Global position and attitude error is adjusted correspondingly, and then realizes that displacement is corrected.
In embodiments of the present invention, principal and subordinate's wheel is calculated by the location coordinate information of principal and subordinate's wheeled mobile robot of acquisition
The global pose of formula mobile robot；Judge principal and subordinate's wheeled mobile robot global pose difference whether in threshold range to from
Wheeled mobile robot carries out shifting and correcting, so that the movement of principal and subordinate's wheeled mobile robot is consistent, principal and subordinate's wheeled mobile robot
The set work of completion mutually more cooperateed between people.
Embodiment:
Referring to Fig. 2, Fig. 2 is multiple mobile robot's cooperative control system based on network-control in the embodiment of the present invention
Structure composition schematic diagram.
As shown in Fig. 2, a kind of multiple mobile robot's cooperative control system based on network-control, the system comprises:
Command sending module 11: the wireless sensor network is based in the user terminal for user to wheeled shifting
Mobile robot sends locating and tracking order；
In our specific implementation process, shown locating and tracking order is operated by the operation interface of user on the subscriber terminal
It generates, comprising: user carries out the certification of identity body at the user terminal operations interface, confirms that the user is legitimate user；
After confirming that the user is legitimate user, the user is allowed to carry out locating and tracking order on user terminal operations interface
Operation is generated, the locating and tracking order is generated.The locating and tracking order of production is based on wireless sensor network to wheeled shifting
Mobile robot is sent；Wherein, wireless sensor network is made of communication modules such as zigbee or bluetooth or WiFi.
Locating and tracking module 12: for carrying out locating and tracking to wheeled mobile robot based on wireless sensor network, and
The location coordinate information of the acquisition of locating and tracking is fed back into user terminal；The wheeled mobile robot includes at least a master
Wheeled mobile robot and one are from wheeled mobile robot；
In specific implementation process of the present invention, what when wireless sensor network was made of zigbee wireless communication module；It is first
First, wireless sensor network is initialized accordingly, on human-computer interaction interface on the subscriber terminal, clicks starting life
It enables, it is each that the work token of task node and communicated tokens are transmitted to network by zigbee wireless communication module by active base station
Node, wherein work token and communicated tokens constitute and send locating and tracking order；Wheeled mobile robot is obtaining work token
Task node after, starting sonar carry out ranging, ranging completion after, task node according to communicated tokens order will
One measurement data is transmitted by zigbee wireless communication module in the monitoring base station in wireless sensor network, and base station pair is monitored
Asynchronous measurement data carry out data fusion, obtain the motion model of wheeled mobile robot, calculate wheeled mobile robot
Position, according to the latest position of the wheeled mobile robot of acquisition, base station generates the new work token of task node and communication enables
Board, then be broadcasted by zigbee wireless communication module, to obtain the location coordinate information of wheeled mobile robot.
Specifically, described carry out locating and tracking to wheeled mobile robot based on wireless sensor network, comprising: obtain institute
State the motion model of wheeled mobile robot；The position seat for obtaining the wheeled mobile robot is calculated based on the motion model
Mark information；Wherein the model formation of the motion model is as follows:
X (k+1)=A (k) X (k)+w (k, Δ tk)；
Wherein, X (k)=[x (k) vx(k) y(k) vy(k)]T, x (k) and y (k) are wheeled mobile robot respectively in k
The coordinate in a sampling period, vx(k) and vy(k) be k-th of sampling period wheeled mobile robot velocity component, w (k, Δ tk)
It is process noise, Δ tkFor the sampling time.
In specific implementation process of the present invention, the wheeled mobile robot includes at least a main wheeled mobile robot
With one from wheeled mobile robot.
Computing module 13: the wheeled mobile robot is calculated according to the location coordinate information of acquisition for the user terminal
The global pose of people obtains the global pose of the wheeled mobile robot；
In specific implementation process of the present invention, the user terminal calculates described wheeled according to the location coordinate information of acquisition
The global pose of mobile robot obtains the global pose of the wheeled mobile robot, comprising: is believed according to the position coordinates
Breath calculates the course angle of the wheeled mobile robot, obtains the course angle of the wheeled mobile robot；According to the course
Angle and it is described set coordinate information, obtain the global pose of the wheeled mobile robot.
Further, the course angle that the wheeled mobile robot is calculated according to the location coordinate information, comprising:
The course angle of the wheeled mobile robot is calculated based on least square method according to the location coordinate information；Wherein
Calculation formula is as follows:
Wherein, i=k-m+1 ..., k；X (i), y (i) are wheeled mobile robots after each Kalman filtering algorithm iteration
The maximum likelihood estimate of people's measurement coordinate；M is the integer less than k, and k is using number of cycles.
It is described as follows according to the course angle and the formula for setting coordinate information:
P=[x y θ]T；
Wherein, P is the global pose of the wheeled mobile robot；X, y are the wheeled mobile robot coordinate information；
θ is the course angle of the wheeled mobile robot.
Specifically, needing principal and subordinate's wheeled mobile robot to reach synchronous in wireless sensor network, relative pose one is needed
It causes；Therefore need to calculate the track centers of principal and subordinate's wheeled mobile robot circular motion, i.e. the world coordinates in the center of circle, principal and subordinate is wheeled
The variables such as mobile robot course angle.
In specific implementation process of the present invention, the calculating of course angle is calculated using least square method, is obtained calculating
After course angle, the global pose of wheeled mobile robot can be obtained according to course angle and coordinate.
Judgment module 14: for judging the global position and attitude error whether in preset threshold range；
In specific implementation process of the present invention, need to get the global pose of wheeled mobile robot respectively, using master
Subtracted each other that (the global pose of main wheeled mobile robot is subtracted from wheel type mobile machine from the global pose of wheeled mobile robot
The global pose of device people), to get global position and attitude error, after getting global position and attitude error, utilize global pose
Whether error and preset threshold value carry out matching judgment, judge global position and attitude error in the range of preset threshold.When judging
When in preset threshold range, S13 step is returned.
Correct module 15: if when for being judged as NO, the global position and attitude error is imported the wheeled mobile robot
Mobile controller in, carry out displacement correction.
It is when determining global position and attitude error not in default range, this is complete in our specific implementation process
Office's position and attitude error imports in the corresponding mobile controller from wheeled mobile robot, and the mobile controller is according to importing
Global position and attitude error is adjusted correspondingly, and then realizes that displacement is corrected.
In embodiments of the present invention, principal and subordinate's wheel is calculated by the location coordinate information of principal and subordinate's wheeled mobile robot of acquisition
The global pose of formula mobile robot；Judge principal and subordinate's wheeled mobile robot global pose difference whether in threshold range to from
Wheeled mobile robot carries out shifting and correcting, so that the movement of principal and subordinate's wheeled mobile robot is consistent, principal and subordinate's wheeled mobile robot
The set work of completion mutually more cooperateed between people.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can be stored in a computer readable storage medium, storage
Medium may include: read-only memory (ROM, Read Only Memory), random access memory (RAM, Random
Access Memory), disk or CD etc..
In addition, being provided for the embodiments of the invention a kind of multiple mobile robot's Collaborative Control based on network-control above
Method and system are described in detail, and should use specific case herein and carry out to the principle of the present invention and embodiment
It illustrates, the above description of the embodiment is only used to help understand the method for the present invention and its core ideas；Meanwhile for this field
Those skilled in the art, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, to sum up
Described, the contents of this specification are not to be construed as limiting the invention.
Claims (8)
1. a kind of multiple mobile robot's cooperative control method based on network-control, which is characterized in that the described method includes:
Locating and tracking is carried out to wheeled mobile robot based on wireless sensor network, and the position of the acquisition of locating and tracking is sat
Mark information feeds back to user terminal；The wheeled mobile robot includes at least a main wheeled mobile robot and one from wheel
Formula mobile robot；
The user terminal calculates the global pose of the wheeled mobile robot according to the location coordinate information of acquisition, obtains institute
State the global pose of wheeled mobile robot；
Judge the global position and attitude error whether in preset threshold range；
If be judged as NO, the global position and attitude error is imported in the mobile controller of the wheeled mobile robot, into
Line position, which is moved, corrects.
2. multiple mobile robot's cooperative control method according to claim 1, which is characterized in that the method also includes:
User sends locating and tracking life to wheeled mobile robot based on the wireless sensor network in the user terminal
It enables.
3. multiple mobile robot's cooperative control method according to claim 1, which is characterized in that described to be based on wireless sensing
Device network carries out locating and tracking to wheeled mobile robot, comprising:
Obtain the motion model of the wheeled mobile robot；
The location coordinate information for obtaining the wheeled mobile robot is calculated based on the motion model；
Wherein the model formation of the motion model is as follows:
X (k+1)=A (k) X (k)+w (k, Δ tk)；
Wherein, X (k)=[x (k) vx(k) y(k) vy(k)]T, x (k) and y (k) are that wheeled mobile robot is adopted at k respectively
The coordinate in sample period, vx(k) and vy(k) be k-th of sampling period wheeled mobile robot velocity component, w (k, Δ tk) be
Journey noise, Δ tkFor the sampling time.
4. multiple mobile robot's cooperative control method according to claim 1, which is characterized in that the user terminal according to
The location coordinate information of acquisition calculates the global pose of the wheeled mobile robot, obtains the complete of the wheeled mobile robot
Office's pose, comprising:
The course angle that the wheeled mobile robot is calculated according to the location coordinate information obtains the wheeled mobile robot
Course angle；
According to the course angle and it is described set coordinate information, obtain the global pose of the wheeled mobile robot.
5. multiple mobile robot's cooperative control method according to claim 4, which is characterized in that described according to the position
Coordinate information calculates the course angle of the wheeled mobile robot, comprising:
The course angle of the wheeled mobile robot is calculated based on least square method according to the location coordinate information；
Wherein calculation formula is as follows:
Wherein, i=k-m+1 ..., k；X (i), y (i) are wheeled mobile robot surveys after each Kalman filtering algorithm iteration
Measure the maximum likelihood estimate of coordinate；M is the integer less than k, and k is using number of cycles.
6. multiple mobile robot's cooperative control method according to claim 4, which is characterized in that described according to the course
Angle and the formula for setting coordinate information are as follows:
P=[x y θ]T；
Wherein, P is the global pose of the wheeled mobile robot；X, y are the wheeled mobile robot coordinate information；θ is
The course angle of the wheeled mobile robot.
7. multiple mobile robot's cooperative control method according to claim 1, which is characterized in that the method also includes:
If be judged as YES, the user terminal is returned according to the location coordinate information of acquisition and calculates the wheeled mobile robot
Global pose, obtain the global pose of the wheeled mobile robot.
8. a kind of multiple mobile robot's cooperative control system based on network-control, which is characterized in that the system comprises:
Locating and tracking module: for carrying out locating and tracking to wheeled mobile robot based on wireless sensor network, and will positioning
The location coordinate information of the acquisition of tracking feeds back to user terminal；The wheeled mobile robot includes at least a main wheel formula and moves
Mobile robot and one are from wheeled mobile robot；
Computing module: the complete of the wheeled mobile robot is calculated according to the location coordinate information of acquisition for the user terminal
Office's pose, obtains the global pose of the wheeled mobile robot；
Judgment module: for judging the global position and attitude error whether in preset threshold range；
Correct module: if when for being judged as NO, the global position and attitude error to be imported to the movement of the wheeled mobile robot
In control device, displacement correction is carried out.
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| CN114383611A (en) * | 2021-12-30 | 2022-04-22 | 华南智能机器人创新研究院 | Multi-machine cooperative laser SLAM method, device and system for mobile robot |
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